摘要
船舶姿态稳定平台装载作业时,其作业精度必须要满足工程实际的需要.传统的方法难以建立包含全部误差源的误差模型,因而针对3-UPS&S姿态稳定平台的运动学标定问题,从关节空间的角度切入,建立了基于驱动关节等效误差的模型,并开展了基于关节空间的位形优选工作.首先,使用伪误差理论建立了驱动关节等效误差模型,其将稳定平台工作空间各维度相互耦合的姿态误差解耦并转化为关节空间等效驱动关节误差,并借助4阶幂多项式将后者描述为随位形变化的函数,从而构建了稳定平台整机误差辨识模型.其次,采用三坐标测量臂制定姿态误差测量方案,建立可解耦至关节空间的参数辨识方法,并开展离线辨识和误差实时在线补偿.在解耦至关节空间参数辨识的基础上,着重研究如何在关节空间中开展测量位形优选工作,以提升平台的姿态补偿精度.通过对各驱动杆离散化处理获得稳定平台的可达工作范围,而后基于残差分析理论定义了位形优选指标,并采用Exchange-Add-Exchange算法对位形优选的约束问题进行优化分析,利用计算机开展仿真实验获取了最佳测量位形.最后,根据测量方案,采用三坐标测量臂获取样机姿态误差数据并开展误差补偿实验,验证所提方法的正确性和有效性.实验结果表明,稳定平台的姿态体积精度由标定前的0.487°降低为0.065°.
When the ship orientation stable platform is loaded,its operating accuracy must fulfill practical engineering needs.However,traditional methods make it difficult to establish an error model that includes all error sources.Therefore,an equivalent error model was established from the perspective of joint space to address the issue of kinematics calibration of a 3-UPS&S orientation stable platform.Furthermore,configuration optimization based on joint space was also performed.First,the equivalent error model of the actuated joint was established using pseudo error theory,which decoupled the orientation error of the stable platform’s workspace and converted it into the equivalent actuated joint error of the joint space,and the latter was described as a function that changed with configuration using the fourth-order power polynomial,thus establishing the error identification model of the entire stable platform.An error measurement scheme based on a three-coordinate measuring arm was proposed,a parameter identification method decoupled from joint space was established,and offline identification and online real-time compensation strategy for errors were proposed.Based on the above decoupling to the joint space parameter identification,this study focused on optimizing the measurement configuration in the joint space to improve the orientation compensation accuracy of the platform.The reachable working range of the stable platform was obtained by discretizing each actu ated rod,a configuration optimization index based on residual analysis theory was proposed,the Exchange-Add-Exchange algorithm was used to optimize the constraint problem of configuration optimization,and the computer simulation experiment was performed to obtain the best measurement configuration.Finally,according to the measurement method,the three-coordinate measuring arm was used to obtain the orientation error data of the prototype and perform the error compensation experiments to verify the correctness and effectiveness of the proposed method.The exp
作者
田文杰
霍明帅
张熙临
张相鹏
Tian Wenjie;Huo Mingshuai;Zhang Xilin;Zhang Xiangpeng(School of Marine Science and Technology,Tianjin University,Tianjin 300072,China;School of Mechanical Engineering,Tianjin University,Tianjin 300350,China)
出处
《天津大学学报（自然科学与工程技术版）》
EI
CAS
CSCD
北大核心
2024年第5期489-500,共12页
Journal of Tianjin University：Science and Technology
基金
国家重点研发计划资助项目(2022YFC3006000).
关键词
姿态稳定平台
运动学标定
等效模型
关节空间位形优选
orientation stable platform
kinematics calibration
equivalent model
configuration optimization of joint space
