冗余自由度船台小车集群的协调控制技术  

Coordinated Control Technology for the Integration of Medium and Small Cars With Redundant Degree of Freedom

作　　者：李聪[1] 陈根良[1] 王皓[1,2] LI Cong;CHEN Genliang;WANG Hao(Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structure Technology,Shanghai Jiao Tong University,Shanghai 200240,China;State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学上海市复杂薄板结构数字化制造重点实验室,上海200240 [2]上海交通大学机械系统与振动国家重点实验室,上海200240

出　　处：《机械设计与研究》2020年第4期88-91,98,共5页Machine Design And Research

基　　金：国家自然科学基金(50905108);国家973重点基础研究发展计划(2007CB714003)资助项目。

摘　　要：针对巨型总段对接过程中船台小车数量多,不易协同控制,严重依赖人工操作的问题,提出了冗余自由度船台小车集群的协调控制技术。首先通过在船段上布置靶标点,利用全站仪测量获取船段当前的位姿,然后用运动逆解算法将对接船段的运动分解成基本的旋转运动和平移运动,进而得到小车集群相关移动量的数据,并且将这些数据从集成软件发送到控制器中,从而实现小车集群协调控制。最后使用搭建好的实验平台展开协调控制的实验,实验结果证明该控制方案具有自动化程度高、对接效率高等优点。In order to solve the problem thatnumbersof ship trolleys in the matching process of the giant general section are not easy to control and are operated heavily on manual operation,a coordinated control technology for excessive degrees of freedom of ship trolleys is proposed.Firstly,by arranging target points on the ship segment,using the total station measurement to obtain the current pose of the ship segment,and then using the inverse solution algorithm to decompose the motion of the docking ship segment into basic rotary and translational movements,the relevant movements of the trolley will be obtained.These data will be sent from the integrated software to controller and then coordinated control will be realized.Finally,experimental platform is used to carry out the coordinated control experiment.The experimental results prove that the control scheme has the advantages of high level of automation and high matching efficiency.

关 键 词：船舶 船台小车 冗余自由度 协调控制 

分 类 号：TH162[机械工程—机械制造及自动化]