CN109063307B - It is a kind of can motor-driven flying mesh capture target knock-on displacement and impact force calculation method - Google Patents

It is a kind of can motor-driven flying mesh capture target knock-on displacement and impact force calculation method Download PDF

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CN109063307B
CN109063307B CN201810830608.5A CN201810830608A CN109063307B CN 109063307 B CN109063307 B CN 109063307B CN 201810830608 A CN201810830608 A CN 201810830608A CN 109063307 B CN109063307 B CN 109063307B
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flying mesh
displacement
motor
knock
driven
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CN109063307A (en
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黄攀峰
周合
张帆
孟中杰
张夷斋
刘正雄
董刚奇
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Northwest University of Technology
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Abstract

The present invention relates to it is a kind of can motor-driven flying mesh capture target knock-on displacement and impact force calculation method, by can motorised units carry multiple sensors obtain the knock-on displacement and impact force at flying mesh center to perceive the information such as its stress, displacement, speed, then by dynamics.In the case, can to can motorised units carry out the research such as path planning and control, the success for being conducive to target arrests.The present invention can joined the sensor device of measuring force, position and speed in motorised units in flying mesh, by can the dynamic informations of motorised units obtain the knock-on displacement and impact force at flying mesh center；And the calculation formula of knock-on displacement and impact force is obtained；After can be used for can motorised units path planning and control research, being conducive to can motor-driven flying mesh success capture target.

Description

It is a kind of can motor-driven flying mesh capture target knock-on displacement and impact force calculation method
Technical field
The invention belongs to flying mesh to capture field, be related to it is a kind of can motor-driven flying mesh capture target knock-on displacement and impact force meter Calculation method, it is specifically a kind of can motor-driven flying mesh capture target when knock-on displacement and impact force calculation method.
Background technique
Flying mesh capture be it is a kind of it is common arrest mode, four nodes on flying mesh periphery be equipped with can motorised units, can be with Expand can motor-driven flying mesh arrest range, because of collision, irregular when improving the success rate of capture, and can effectively prevent capture target The problems such as winding of flying mesh caused by deformation etc., rebound, in space, flying mesh robot cleaning orbit debris, multiple no-manned plane linked network are intercepted It is of great significance in the operations such as flying object, the seine cooperation fishing of more ships.
Can motor-driven flying mesh capture target during, to can motorised units path planning and control arrest success or failure One of key.Obtain in time flying mesh dynamic information facilitate to can motorised units carry out path planning and control, to make Flying mesh can effective capture target.
Summary of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention propose it is a kind of can motor-driven flying mesh capture target knock-on displacement With impact force calculation method, it is applicable not only to the capture of regular single object, is also applied for irregular complex topography object and more The capture of a object.
Technical solution
It is a kind of can motor-driven flying mesh capture target knock-on displacement and impact force calculation method, it is characterised in that steps are as follows:
Step 1, including flying mesh part and can motorised units can motor-driven flying mesh configuration: flying mesh be 10m × 10m pros Shape structure, grid are the square structures of 20cm × 20cm；Four can motorised units be connected respectively with four angles of flying mesh, can Motorised units be equipped with determination can the stress of motorised units, position, the three-dimensional force sensor of the size and Orientation of speed, the whole world it is fixed Position system, inertial sensor；
Step 2, can motor-driven flying mesh kinetic model:
Wherein, RiIndicate position vector of the inertial coodinate system origin to particle, g expression acceleration of gravity, FextIndicate other The sum of external force；
The quality representation of each particle in flying mesh are as follows:
Wherein, m be can motorised units quality, ρ is the density of flying mesh material, and A is the cross-sectional area of flying mesh, and l is not stretch Long side length of element；
Tether pulling force between adjacent particle is expressed as:
Wherein,In formula, k is the coefficient of elasticity of flying mesh rope section, wherein k=EA/l, and E is winged The Young's modulus of nettle section material；D is the damped coefficient of flying mesh rope section, whereinξ is the resistance of flying mesh rope section material Buddhist nun's ratio.riWithIt is the relative position between adjacent particle and speed respectively；It is unit direction vector；
Step 3, can motorised units knock-on displacement calculate: r=∑ rj
Wherein, r indicate can motor-driven flying mesh knock-on displacement；rjIndicate j-th can motorised units flying mesh center generated Knock-on displacement, j=1,2,3,4；
The rj according toIt calculates；
Wherein, mcIndicate the quality of flying mesh center particle；rjIndicate j-th can motorised units the generation of flying mesh center is touched Hit displacement, j=1,2,3,4；Tj1, Tj2It is the pulling force on two sections of ropes being connected with flying mesh center respectively；
Step 4, can motor-driven flying mesh impact force calculate:
Wherein, K be equivalent contact stiffness coefficient, C be equivalent contact damping coefficient, r be can motor-driven flying mesh knock-on displacement,It is knock-on displacement to the derivative of time, n is index, n >=1.
Beneficial effect
One kind proposed by the present invention can motor-driven flying mesh capture target knock-on displacement and impact force calculation method, by can machine The multiple sensors that moving cell carries obtain flying mesh center to perceive the information such as its stress, displacement, speed, then by dynamics Knock-on displacement and impact force.In the case, can to can motorised units carry out path planning and control etc. research, be conducive to The success of target is arrested.
The present invention can joined the sensor device of measuring force, position and speed in motorised units in flying mesh, by can machine The dynamic information of moving cell obtains the knock-on displacement and impact force at flying mesh center；And the meter of knock-on displacement and impact force is obtained Calculate formula；After can be used for can motorised units path planning and control research, be conducive to can motor-driven flying mesh successfully arrest mesh Mark.
Detailed description of the invention
Fig. 1 is can motor-driven flying mesh structural schematic diagram；
Fig. 2 is that the displacement of flying mesh Central Collisions calculates schematic diagram.
Fig. 3 is can motor-driven flying mesh capture object delineation.
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
The technical solution adopted in the present invention the following steps are included:
1) design can motor-driven flying mesh configuration and topological structure；
2) establish can motor-driven flying mesh dynamics formula；
3) calculate it is each can motorised units knock-on displacement；
4) calculate can motor-driven flying mesh knock-on displacement；
5) calculate can motor-driven flying mesh impact force；
In step 1) as described above, can motor-driven flying mesh configuration and topological structure be expressed as follows:
Can motor-driven flying mesh be made of two parts: flying mesh part and can motorised units part, flying mesh is the pros of 10m × 10m Shape structure, grid are the square structures of 20cm × 20cm, four can motorised units be connected respectively with four angles of flying mesh, can Equipped with three-dimensional force sensor, global positioning system, inertial sensor in motorised units, to determination can motorised units by Power, position, speed size and Orientation.
In step 2) as described above, can motor-driven flying mesh kinetic model derive it is as follows:
In this patent can motor-driven flying mesh kinetic model derive it is based on Mass-spring damper rod it is assumed that i.e. by flying mesh It is discrete to turn to a series of particles, can motorised units be also considered as particle, and the rope section between adjacent particle is considered as to the bullet of massless Spring damper rod.
The quality representation of each particle in flying mesh are as follows:
Wherein, m be can motorised units quality, ρ is the density of flying mesh material, and A is the cross-sectional area of flying mesh, and l is not stretch Long side length of element.
Tether pulling force between adjacent particle is expressed as:
Wherein,In formula, k is the coefficient of elasticity of flying mesh rope section, wherein k=EA/l, and E is winged The Young's modulus of nettle section material；D is the damped coefficient of flying mesh rope section, whereinξ is the resistance of flying mesh rope section material Buddhist nun's ratio.riWithIt is the relative position between adjacent particle and speed respectively.It is unit direction vector.
Finally, the kinetics equation of each particle of netting is obtained according to Newton's second law are as follows:
Wherein, RiIndicate position vector of the inertial coodinate system origin to particle, g expression acceleration of gravity, FextIndicate other The sum of external force, such as perturbed force, the air drag in environment.
In step 3) as described above, it is each can motorised units knock-on displacement calculate it is as follows:
Calculate can motorised units impact force when, due to flying mesh stress and distance dependent, only consider with it is each can motor-driven list The flying mesh part of the adjacent a quarter of member, as shown in Fig. 2, ignore the external force such as perturbed force and the air drag in environment, according to Formula (2) and formula (3), can obtain:
Wherein, mcIndicate the quality of flying mesh center particle；rjIndicate j-th can motorised units the generation of flying mesh center is touched Hit displacement, j=1,2,3,4；Tj1, Tj2It is the pulling force on two sections of ropes being connected with flying mesh center respectively.
In step 4) as described above, can motor-driven flying mesh knock-on displacement calculate it is as follows:
R=∑ rj (5)
Wherein, r indicate can motor-driven flying mesh knock-on displacement；rjIndicate j-th can motorised units flying mesh center generated Knock-on displacement, j=1,2,3,4.
In step 5) as described above, can motor-driven flying mesh impact force calculate it is as follows:
Wherein, K be equivalent contact stiffness coefficient, C be equivalent contact damping coefficient, r be can motor-driven flying mesh knock-on displacement,It is knock-on displacement to the derivative of time, n is index, n >=1.
The present invention can joined the sensor device of measuring force, position and speed in motorised units in flying mesh, by can machine The dynamic information of moving cell obtains the knock-on displacement and impact force at flying mesh center；And the meter of knock-on displacement and impact force is obtained Calculate formula；After can be used for can motorised units path planning and control research, be conducive to can motor-driven flying mesh successfully arrest mesh Mark.

Claims (1)

1. one kind can motor-driven flying mesh capture target knock-on displacement and impact force calculation method, it is characterised in that steps are as follows:
Step 1, including flying mesh part and can motorised units can motor-driven flying mesh configuration: flying mesh be 10m × 10m square knot Structure, grid are the square structures of 20cm × 20cm；Four can motorised units be connected respectively with four angles of flying mesh, can be motor-driven Unit is equipped with determination can the stress of motorised units, position, the three-dimensional force sensor of the size and Orientation of speed, global positioning system System, inertial sensor；
Step 2, can motor-driven flying mesh kinetic model:
Wherein, RiIndicate position vector of the inertial coodinate system origin to particle, g expression acceleration of gravity, FextIndicate other external force The sum of；
The quality representation of each particle in flying mesh are as follows:
Wherein, m be can motorised units quality, ρ is the density of flying mesh material, and A is the cross-sectional area of flying mesh, and l does not extend Side length of element；
Tether pulling force between adjacent particle is expressed as:
Wherein,In formula, k is the coefficient of elasticity of flying mesh rope section, wherein k=EA/l, and E is flying mesh rope The Young's modulus of section material；D is the damped coefficient of flying mesh rope section, whereinξ is the damping of flying mesh rope section material Than；riWithIt is the relative position between adjacent particle and speed respectively；It is unit direction vector；
Step 3, can motorised units knock-on displacement calculate: r=∑ rj
Wherein, r indicate can motor-driven flying mesh knock-on displacement；rjIndicate j-th can motorised units collision bit that flying mesh center is generated It moves, j=1,2,3,4；
The rjAccording toIt calculates；
Wherein, mcIndicate the quality of flying mesh center particle；rjIndicate j-th can motorised units collision bit that flying mesh center is generated It moves, j=1,2,3,4；Tj1, Tj2It is the pulling force on two sections of ropes being connected with flying mesh center respectively；
Step 4, can motor-driven flying mesh impact force calculate:
Wherein, K be equivalent contact stiffness coefficient, C be equivalent contact damping coefficient, r be can motor-driven flying mesh knock-on displacement,For To the derivative of time, n is index, n >=1 for knock-on displacement.
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CN110188494B (en) * 2019-06-04 2022-06-07 西北工业大学 Method for determining expected envelope point in flexible capture
CN112966333B (en) * 2021-03-03 2022-09-13 西北工业大学 Method for estimating collision center of rope system fly net captured non-cooperative target
WO2023206690A1 (en) * 2022-04-25 2023-11-02 胡灵芝 Submersible probe robot, fishing net unit, flow guide plate unit and fishing method

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