紧耦合多直升机协同吊运系统的运动学分析与实现  

Kinematic analysis of cooperative hoist-transportation system with close-coupled multiple helicopters and its realization

作　　者：苏程[1] 王志睿 丁旺才[1] 叶佳楠 SU Cheng;WANG Zhi-rui;DING Wang-cai;YE Jia-nan(School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China)

机构地区：[1]兰州交通大学机电工程学院

出　　处：《兰州理工大学学报》2019年第5期103-108,共6页Journal of Lanzhou University of Technology

基　　金：国家自然科学基金(51265021);教育部科学技术研究重点项目(212184);高等学校博士学科点专项科研基金新教师类资助课题(20126204120004)

摘　　要：针对多直升机协同吊运同一个物体形成的闭运动链协调系统预期运动实现的问题,分析了系统的空间布局,在保持系统基本结构参数不变的基础上,把空间问题转化为平面问题,求出系统的平移和偏航运动方程,再通过限定直升机末端的运动方向,利用力平衡方程、力矩平衡方程、余弦定理、矢量封闭原则求出系统的俯仰运动和侧摆运动方程.根据建立的运动方程,给定动平台的期望位置和姿态运动轨迹,从而确定各直升机末端的运动轨迹.最后,数值模拟仿真了系统的运动实现过程,同时搭建了多直升机吊运虚拟平台和实体平台,验证了所建运动方程的准确性.研究结果为进一步研究多直升机协调吊运系统的运动控制问题奠定了基础.Aimed at the problem of realization of expected motion of a closed-movement chain coordination system formed by hoist-transportation of identical body with cooperative multiple helicopters, the space layout of the system is analyzed, the space problem is transformed into a plane problem on the basis of keeping the system basic structure parameters unchanged, and the equations of translatory and yawing motion of the system are found. Then, by means of restricting the movement direction of the helicopter end, and by using force balance equation, torque balance equation, cosine theorem, and principle of vector closure, the equations of pitching and rolling motion of the system are found. According to the established equation of motion, the expected motion trajectory of the position and attitude of the movable platform is given, so that the movement trajectory of each helicopter end is determined. Finally, the movement implementation process of the system is simulated numerically, and at the same time, the virtual and physical multiple-helicopter hoisting platforms are built to verify the accuracy of the established motion equation. The investigation result will lay a foundation for further study of motion control problem in the multiple-helicopter cooperative hoist-transportation system.

关 键 词：多直升机系统 吊运系统 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]