中国机械工程 ›› 2014, Vol. 25 ›› Issue (22): 3050-3055.

• 机械基础工程 • 上一篇    下一篇

大刚体姿态计算及多轴同步协调控制技术

屈稳太;应蓓华;董凤莲   

  1. 浙江大学宁波理工学院,宁波,315100
  • 出版日期:2014-11-25 发布日期:2014-11-28
  • 基金资助:
    浙江省自然科学基金资助项目(Y1100290);宁波市自然科学基金资助项目(2011A610135)
    Zhejiang Provincial Natural Science Foundation of China(No. Y1100290); 
    Natural Science Foundation of Ningbo(No. 2011A610135)

Calculation of  Large Rigid Body Pose  and  Multi-axis  Synchronous Coordinating  Control

Qu  Wentai;Ying  Beihua;Dong Fenglian   

  1. Ningbo  Institute of  Technology,Zhejiang University,Ningbo,Zhejiang,315100
  • Online:2014-11-25 Published:2014-11-28
  • Supported by:
     
    Zhejiang Provincial Natural Science Foundation of China(No. Y1100290); 
    Natural Science Foundation of Ningbo(No. 2011A610135)

摘要:

大刚体的姿态计算及其高精度控制是飞机、舰船等大型机器总装生产线的关键技术。针对一种六自由度的大刚体的姿态控制系统提出一种快速的姿态计算方法和高精度的多轴协调控制方法。以基础平台建立固定坐标系,以大刚体的中心建立连体坐标系,在此基础上建立大刚体姿态计算数学模型,通过测量大刚体上4个靶标的初始位置和目标位置,就可计算出大刚体4个支撑柱的三坐标的位移增量;在多轴同步控制技术中,引入同步误差积分补偿方法(CSEI),通过同步误差在相反方向的控制作用,可显著提高大刚体姿态调整的速度和精度。仿真表明,所提出的姿态计算方法和CSEI控制方法快速有效,对工程应用具有指导意义。

关键词: 大刚体, 位姿调节, 同步协调控制, 自由度

Abstract:

Calculation of  large  rigid body pose and its high precision control was studied herein.Aiming at the 6-DOF  large  rigid  body pose alignment system,a fast calculation approach to the pose and  a  high precision multi-axis coordinating control system was presented.Firstly,mathematic models of large rigid body pose calculation were  established respectively on a global frame which was found on the basic platform and a body-fixed  frame system which was found on the center of the large rigid body.By detecting the initial positions and the final positions of four marks on the large rigid body,the displacement increments of  three coordinates of the four  supports  could be easily calculated.Then,a compensation of synchronization error integration technology was proposed for the large rigid body pose alignment system.By the technology,the precision and speed of large rigid pose alignment  could  be  improved significantly.The simulation results show that the proposed approach is rapid and effective, the control algorithm has guiding significance for engineering applications of large rigid body pose alignment.

Key words: large , rigid , body;pose alignment;synchronous coordinating control;degree of freedom(DOF)

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