智能装填系统中的自适应轨迹规划设计  

Adaptive Trajectory Planning and Design in Intelligent Loading System

作　　者：袁立达 关晓存[1] 管少华[1] 吴宝奇 YUAN Lida;GUAN Xiaocun;GUAN Shaohua;WU Baoqi(National Key Laboratory of Science and Technology on Vessel Integrated Power System Naval University of Engineering,Wuhan 430033,Hubei,China)

机构地区：[1]海军工程大学舰船综合电力技术国防科技重点实验室,湖北武汉430033

出　　处：《火炮发射与控制学报》2023年第3期22-27,共6页Journal of Gun Launch & Control

基　　金：国家自然科学基金(51777212)。

摘　　要：针对电磁线圈发射装置在每次发射后其身管位置存在数毫米的变化,无法确保装填精确到位这一问题,开展了智能装填系统中自适应轨迹规划的设计与研究,并对智能装填系统的装填终点位进行了精确的自适应位置控制设计。采用激光测距技术检测发射装置身管的实时位置,利用EtherCAT实时工业以太网对数据进行计算转换,完成对智能装填系统的装填终点位的实时在线修正,结合PLC轨迹规划技术实现了智能装填系统中的自适应轨迹规划。研究结果表明,激光测距技术运用在位置控制中,装填控制精度可达±0.15 mm,使得自动装填的柔性增加,每次装填时终点位反馈与终点位命令跟踪良好。经计算,控制的超调在0.006%以内,终点位的位置偏差在12.2μm左右。由于激光的运用,装填系统多了一层保护,不需要每次装填至最大行程225 mm处。由此可见,该设计增加了智能装填系统整体的鲁棒性、稳定性和冗余性。研究拓展了激光测距技术在自动装填领域中的应用,为后续自动装填控制系统发展提供理论指导。Aiming at the problem that the position of the barrel of the electromagnetic coil launcher changes by several millimeters after each launch,which can not ensure accurate loading,design and research of adaptive trajectory planning in an intelligent loading system was carried out,so was design of accurate adaptive position control of the loading end position of the intelligent loading system.Laser ranging technology was used to detect the real-time position of the launching tube,EtherCAT real-time industrial Ethernet was put in place to calculate and convert data,and real-time online correction of the loading end position of the intelligent loading system was completed.Adaptive trajectory planning in the intelligent loading system was realized with the help of PLC trajectory planning technology.Results show that when laser ranging technology is used in position control,loading control accuracy can reach±0.15 mm,which increases the flexibility of automatic loading.In the study,the end position feedback and end position command tracking were good during each loading.The controlled overshoot was calculated to be within 0.006%,and the position deviation of the end position was about 12.2μm.Due to the use of laser,the loading system had an additional layer of protection,and it was not necessary to reach the maximum travel of 225 mm each time.It can be seen that the design increases robustness,stability and redundancy of the intelligent loading system as a whole.This research expands the application of laser ranging technology in the field of automatic loading,and provides theoretical gui-dance for subsequent development of automatic loading control systems.

关 键 词：激光测距 PLC 自动装填 轨迹规划 自适应 ETHERCAT 冗余设计 

分 类 号：TM93[电气工程—电力电子与电力传动] TM30