摘要
针对舰载机在机库、甲板相对复杂和狭窄空间内的灵活高效转运的需求,以三个全向智能移动装备编队协同控制组成的舰载机转运平台为研究对象,研究舰载机在航母机库甲板上转运作业的任意路径自动跟踪问题。首先,建立全向舰载机转运模型,实现分布式编队协同运动控制;设计基于激光扫描雷达的相对位姿补偿控制器,通过对主、从之间的轮廓数据采用基于Savitzky-Golay多项式拟合法的平滑预处理后采用二值化方法求解相对位姿信息;设计基于神经网络PID控制算法的位姿偏差补偿控制策略。仿真结果表明,所设计的位姿偏差补偿控制策略可实现舰载机整机沿规划路径跟踪。该研究可为后续舰载机自动导航,弹药、补给等无人自主产品转运打下技术基础。
In order to meet the needs of flexible and efficient transport of carrier aircraft in hangar,deck and narrow space,the carrier aircraft transport platform composed of three omni-directional intelligent mobile equipment formations is taken as the research object,and the problem of automatic tracking of any route of carrier-based aircraft transport operations on the deck of aircraft carrier hangar is studied.Firstly,an omni-directional carrier aircraft transport model is established to realize distributed formation cooperative motion control;The relative pose compensation controller based on laser scanning radar is designed,and the relative pose information is solved by binarization method after smoothing preprocessing the contour data between master and slave based on Savitzky-Golay polynomial fitting method;Design a control strategy of posture deviation compensation based on neural network PID control algorithm;The simulation results show that the designed posture deviation compensation control strategy can realize the tracking of the whole carrier aircraft along the planned path;This research can lay a technical foundation for the subsequent automatic navigation of carrier-based aircraft and the transfer of unmanned autonomous products,including ammunition and replenishment.
作者
漆嘉林
董礼港
杨庆君
张俊辉
QI Jia-lin;DONG Li-gang;YANG Qing-jun;ZHANG Jun-hui(Beijing Satellite Manufacturing Co.,Ltd.,Beijing 100094,China)
出处
《控制工程》
CSCD
北大核心
2020年第S01期56-62,共7页
Control Engineering of China
作者简介
通讯作者:漆嘉林(1989-),男,江西上饶人,研究生,主要研究方向为地面转运装置嵌入式开发等;董礼港(1981-),男,山东荣成人,研究生,主要研究方向为地面机电一体化测试设备设计与研发等;杨庆君(1985-),男,山东临沂人,研究生,主要研究方向为地面机电一体化测试设备设计与研发。
