CN115457833A - Traction robot track control experiment table of offshore operation helicopter - Google Patents
Traction robot track control experiment table of offshore operation helicopter Download PDFInfo
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- CN115457833A CN115457833A CN202211162485.5A CN202211162485A CN115457833A CN 115457833 A CN115457833 A CN 115457833A CN 202211162485 A CN202211162485 A CN 202211162485A CN 115457833 A CN115457833 A CN 115457833A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
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- G09B9/085—Special purpose teaching, e.g. alighting on water, aerial photography
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
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Abstract
The invention relates to a traction robot track control experiment table for a marine operation helicopter, which consists of a frame, a cross motion platform, a helicopter model, a control box, a computer and a display, and can realize the experiment of the traction robot track control problem of different types of marine operation helicopters. The invention has novel structure and ingenious design, reduces the experiment danger and can more easily and conveniently test the experiment effect. The invention can provide experimental conditions for the track control research of the traction robot of the helicopter working on the sea, verify the effect of the control method and can be used as an experimental table for course teaching of a modern control method in university education.
Description
Technical Field
The invention belongs to the technical field of offshore operation helicopters, and particularly relates to a traction robot trajectory control experiment table of an offshore operation helicopter.
Background
With the research and development of helicopter technology, the application of helicopters in offshore operation is increasingly wide. However, the on-board take-off and landing platform has the characteristic of unsteady fluctuation due to the influence of sea conditions, so that huge safety risks exist in the on-board recovery process of the helicopter. The helicopter traction robot is a key device for ensuring the safety of a helicopter on a ship, and has the main functions of coordinating the taking-off and landing of the helicopter on the ship, quickly fixing the helicopter on the ship and drawing the helicopter to enter a hangar or move out of the hangar from a taking-off and landing platform to the taking-off and landing platform.
Scholars at home and abroad have conducted a great deal of research on the traction robots of the offshore operation helicopters, and various products, such as a fishfork-grille system, a landing-assisting net-winch system, a pull-down cable-winch system, a probe-gripper-winch system and the like, are designed and manufactured, and meet engineering requirements to different degrees. At present, a 'feeler lever-gripper-winch' system is a system with least manual participation and higher automation degree, the system uses a gripper on a traction robot to grab a feeler lever at the lower part of a helicopter so as to fix the helicopter on a ship, and uses a winch at the lower part of the robot to pull the helicopter to be put in and out of the warehouse.
However, the "probe-gripper-winch" system, although highly automated, still requires manual intervention during operation. For example, in the process of warehousing and ex-warehouse of the helicopter, a person is still required to manually control the moving speed of the hand grab and the winch through the controller, so that the helicopter can move according to a preset track. The working efficiency of the system depends on the skill level and proficiency of operators, and misoperation of the operators can cause misoperation and even accidents. Therefore, the realization of the full automation of the probe rod-gripper-winch system has important engineering significance.
In the research process of realizing automation of warehousing and ex-warehouse of the helicopter by a probe rod-gripper-winch system, a large number of experiments are needed, and a physical experiment on the sea has certain danger and is inconvenient to implement, so that an experimental device for solving the control problem is urgently needed to be designed.
Meanwhile, with the development of science and technology, teaching modes are advanced with time, and experimental teaching is paid attention. For the engineering students, experimental teaching is especially important. In order to make students fully understand what they learn, scientific teaching aids are indispensable in relevant teaching. In higher education of universities, teaching aiming at the modern control method of the students in the department of industry is a key point and a difficult point. At present, the colleges and universities lack an experimental platform for teaching by combining with the control problem of the actual engineering background.
Disclosure of Invention
In order to fill the gap, the invention provides the traction robot trajectory control experiment table for the offshore operation helicopter, which not only can provide experiment conditions for the trajectory control research of the traction robot of the offshore operation helicopter and verify the effect of a control method, but also can be used as an experiment table for course teaching of a modern control method in university education.
The invention relates to a traction robot track control experiment table of a helicopter for offshore operation, which is shown in a figure 1 and consists of a frame I1, a cross-shaped motion platform I2, a helicopter model I3, a control box I4, a computer I5 and a display I6. Referring to the attached drawing 2, a frame I1 is formed by fixedly connecting an aluminum profile and an aluminum plate through bolts; referring to the attached drawing 3, the cross motion platform I2 is composed of a longitudinal linear guide rail assembly I7, a linear sliding table I8, an angle aluminum plate I9, an angle aluminum plate II10, an angle connecting piece I11, a linear sliding table II12, an angle aluminum plate III13, a transverse linear guide rail assembly I14, a transverse linear guide rail assembly II15, a longitudinal linear guide rail assembly II16, an angle aluminum plate IV17, an angle aluminum plate V18, an angle connecting piece II19, an angle aluminum plate VI20, an angle aluminum plate VII21, a square flange guide rail bearing I22, a coupler I23, an encoder I24 and an encoder bracket I25; referring to fig. 4, a helicopter model I3 is composed of a trapezoidal aluminum plate I26, an optical axis locking seat I27, an optical axis I28, a universal wheel I29, a directional wheel I30 and a directional wheel II 31; referring to fig. 5, the longitudinal linear guide assembly I7 is composed of a sliding block I32, a sliding block II33, and an aluminum support optical axis track I34, and the structure of the longitudinal linear guide assembly II16 is the same as that of the longitudinal linear guide assembly I7; referring to fig. 6, a sliding table I35 is arranged at the upper part of the linear sliding table I8, the sliding table I35 can move linearly along the axis of the linear sliding table I8, and the structure of the linear sliding table II12 is the same as that of the linear sliding table I8; referring to fig. 7, the transverse linear guide assembly I14 is composed of an optical axis locking seat II36, a slider III37, an optical axis rail I38, and an optical axis locking seat III 39; referring to fig. 8, the optical axis locking seat I27 can lock the optical axis in the axial hole thereof by installing a locking nut, and the structures of the optical axis locking seat II36 and the optical axis locking seat III39 are the same as the optical axis locking seat I27; referring to fig. 9, two mounting surfaces of the corner connector I11 are arranged at a right angle, and the structure of the corner connector II19 is the same as that of the corner connector I11; referring to fig. 10, a mounting hole is formed on the flange surface of the square flange guide rail bearing I22; referring to fig. 11, a mounting hole is formed on the mounting surface of the encoder I24; referring to fig. 12, the mounting surface of the encoder bracket I25 is provided with mounting holes.
The connection relation of each part is as follows: referring to the attached drawing 1, 4 support legs of a frame I1 are in contact with the ground, a mounting surface of a longitudinal linear guide rail assembly I7 and a mounting surface of a longitudinal linear guide rail assembly II16 of a cross motion platform I2 are fixedly connected with a top aluminum plate of the frame I1 through bolts, a mounting surface of a linear sliding table I8 of the cross motion platform I2 is fixedly connected with a top aluminum plate of the frame I1 through bolts, a universal wheel I29, a directional wheel I30 and a directional wheel II31 of a helicopter model I3 are in contact with an aluminum plate at the middle of the frame I1, an optical axis I28 of the helicopter model I3 penetrates through a shaft hole of a square flange guide rail bearing I22 of the cross motion platform I2 and is fixedly connected with a coupler I23 through bolts, a control box I4 and a computer I5 are placed on the aluminum plate of the frame I1, and a display I6 is fixedly connected with the frame I1 through a mounting bracket; referring to fig. 3, an angle aluminum plate III13 of a cross motion platform I2 is fixedly connected to a slider mounting surface of a longitudinal linear guide assembly I7 through bolts, an angle aluminum plate IV17 is fixedly connected to a slider mounting surface of a longitudinal linear guide assembly II16 through bolts, the angle aluminum plate III13 and the angle aluminum plate IV17 are fixedly connected to a bottom mounting surface of a linear sliding table II12 through bolts, a sliding table I35 of the linear sliding table I8 is fixedly connected to an angle aluminum plate I9 through bolts, an angle aluminum plate II10 is fixedly connected to a bottom mounting surface of the linear sliding table II12 through bolts, the angle aluminum plate I9 is fixedly connected to the angle aluminum plate II10 through an angle connector I11, two ends of a transverse linear guide assembly I14 and a transverse linear guide assembly II15 are fixedly connected to the angle aluminum plate III13 and the angle aluminum plate IV17 respectively, the angle aluminum plate VI20 is fixedly connected to slider mounting surfaces of the transverse linear guide assembly I14 and the transverse linear guide assembly II15 through bolts, the angle aluminum plate V18 is fixedly connected to a sliding table surface of the linear sliding table II12 through bolts, the angle aluminum plate V18 is fixedly connected to the angle aluminum plate VI 19 through an angle aluminum plate VI20, the angle aluminum plate VI20 is fixedly connected to the angle aluminum plate VI20 through bolts, the angle encoder is fixedly connected to the angle encoder through bolts, the angle encoder I24 and the angle encoder through bolts, and the angle encoder bracket VI bracket I24, and the angle encoder through bolts, and the angle encoder bracket VI bracket I24; referring to the attached drawing 4, a trapezoidal aluminum plate I26 of the helicopter model I3 is fixedly connected with an optical axis locking seat I27 through bolts, an optical axis I28 is fixed in an axle hole of the optical axis locking seat I27, and mounting surfaces of a universal wheel I29, a directional wheel I30 and a directional wheel II31 are respectively and fixedly connected with the trapezoidal aluminum plate I26 through bolts.
The relative motion of each part is as follows: the linear sliding table I8 and the linear sliding table II12 are driving parts of an experiment table, the sliding table I35 of the linear sliding table I8 can move linearly along an axis to drive other parts to move, the linear sliding table I8 drives the linear sliding table II12 to move linearly through the connection of an angle aluminum plate I9, an angle aluminum plate II10 and an angle connecting piece I11, the longitudinal linear guide rail assembly I7 and the longitudinal linear guide rail assembly II16 play a role in supporting and guiding the linear movement of the linear sliding table II12, the linear sliding table II12 drives the square flange guide rail bearing I22 to move linearly through the connection of an angle aluminum plate V18, an angle connecting piece II19, an angle aluminum plate VI20 and an angle aluminum plate VII21, and the drive of the linear sliding table I8 and the linear sliding table II12 is in a serial relation, so that the resultant movement of the square flange guide rail bearing I22 is planar movement, and the square flange guide rail bearing I22 drives the helicopter model I3 to move planar movement through the optical axis I28.
The working principle of the invention is as follows:
the traction robot track control experiment table for the offshore operation helicopter has the main function of carrying out experimental verification on the control problem that the helicopter walks on a ship according to a preset track. In actual engineering, the traction robot drives the helicopter feeler lever to realize the control of the position of the helicopter by controlling the dragging of the winch and the movement of the gripper, and in order to simulate the control process, the combined movement of the linear sliding table I8 and the linear sliding table II12 is used for replacing the movement of the winch and the gripper in the experiment table. During an experiment, a designed control method is input into the computer I5, the computer I5 transmits a control signal to the control box I4, the control box I4 transmits a driven signal to the linear sliding table I8 and the linear sliding table II12, the linear sliding table I8 and the linear sliding table II12 realize the corresponding movement of the control signal, the square flange guide rail bearing I22 drives the optical axis I28 to drive the helicopter model I3 to move, the angle information of the helicopter model I3 is transmitted to the encoder I24 through the optical axis I28 and the coupler I23, the encoder I24 transmits the angle information of the helicopter model I3 back to the computer I5 through the control box I4, the position information of the helicopter model I3 is transmitted to the position sensors inside the linear sliding table I8 and the linear sliding table II12 through the optical axis I28, and the linear sliding table I8 and the linear sliding table II12 transmit the position information of the helicopter model I3 back to the computer I5 through the control box I4, so that the helicopter model I3 is controlled to travel according to a preset track, and the display corresponding input and output information. The experimenter can evaluate the quality of the control method through the position and angle data of the helicopter model I3 fed back to the computer I5, so that the control method and the parameters of the controller are adjusted, and the control effect is optimal.
The invention has the beneficial effects that:
the invention designs the experiment table for the track control problem of the traction robot of the helicopter for offshore operation, thereby reducing the experiment danger and more easily and conveniently checking the experiment effect. Through reasonable abstraction and conversion, the probe rod at the lower part of the helicopter in practice is placed at the upper part of the helicopter model, so that the structure of the experiment table is greatly simplified, the problem that the space at the lower part of the helicopter model is small and driving equipment is difficult to install is solved, the simulation of winch movement is simplified, a groove is required to be arranged on a ship deck in practice, the movement of the simplified winch is realized above the helicopter model, and the trouble of grooving of the ship deck is eliminated. In addition, the position of the optical axis I28 in the experiment table relative to the helicopter model I3 can be changed conveniently, so that the experiment on the track control problem of the traction robots of different types of offshore operation helicopters can be realized. Meanwhile, the teaching aid can be used as a teaching tool to show the thought and the process of solving the practical engineering problem of the modern control method to students in higher education, understand the modeling thought and the control principle, realize the influence of the control parameters on the control effect, and is a good teaching aid for experimental teaching.
Drawings
FIG. 1 is a schematic structural diagram of a traction robot trajectory control experiment table of a helicopter for offshore operation
FIG. 2 is a schematic structural diagram of the frame I1
FIG. 3 is a schematic structural diagram of a cross-shaped motion platform I2
FIG. 4 is a schematic structural diagram of the helicopter model I3
FIG. 5 is a schematic view of the structure of a longitudinal linear guide assembly I7
FIG. 6 is a schematic view of a linear slide table I8
FIG. 7 is a schematic structural view of a transverse linear guide assembly I14
FIG. 8 is a schematic view of the optical axis locking seat I27
FIG. 9 is a schematic view of the structure of the corner connector I11
FIG. 10 is a schematic structural diagram of a square flange guide rail bearing I22
FIG. 11 is a schematic diagram of the structure of the encoder I24
FIG. 12 is a schematic view of the structure of the encoder bracket I25
FIG. 13 is a flow chart of a traction robot trajectory control for a helicopter operating at sea
Wherein: 1. frame I2, cross motion platform I3, helicopter model I4, control box I5, computer I6, display I7, longitudinal linear guide rail assembly I8, linear sliding table I9, angle aluminum plate I10, angle aluminum plate II 11, angle connector I12, linear sliding table II13, angle aluminum plate III 14, transverse linear guide rail assembly I15, transverse linear guide rail assembly II16, longitudinal linear guide rail assembly II 17, angle aluminum plate IV 18, angle aluminum plate V19, angle connector II 20, angle aluminum plate VI 21, angle aluminum plate VII 22, square flange guide rail bearing I23, coupling I24, encoder support I25, encoder support I26, trapezoid aluminum plate I27, optical axis locking seat I28, optical axis I29, universal wheel I30, directional wheel I31, directional wheel II 32, slider I33, slider II 34, aluminum support optical axis rail I35, sliding table I36, optical axis locking seat II37, slider III 38, optical axis locking seat III
Detailed Description
The invention relates to a traction robot track control experiment table of a helicopter for offshore operation, which is shown in a figure 1 and consists of a frame I1, a cross-shaped motion platform I2, a helicopter model I3, a control box I4, a computer I5 and a display I6. Referring to the attached drawing 2, a frame I1 is formed by fixedly connecting an aluminum profile and an aluminum plate through bolts; referring to fig. 3, the cross motion platform I2 is composed of a longitudinal linear guide rail assembly I7, a linear sliding table I8, an angle aluminum plate I9, an angle aluminum plate II10, an angle connector I11, a linear sliding table II12, an angle aluminum plate III13, a transverse linear guide rail assembly I14, a transverse linear guide rail assembly II15, a longitudinal linear guide rail assembly II16, an angle aluminum plate IV17, an angle aluminum plate V18, an angle connector II19, an angle aluminum plate VI20, an angle aluminum plate VII21, a square flange guide rail bearing I22, a coupler I23, an encoder I24, and an encoder bracket I25; referring to fig. 4, a helicopter model I3 is composed of a trapezoidal aluminum plate I26, an optical axis locking seat I27, an optical axis I28, a universal wheel I29, a directional wheel I30 and a directional wheel II31, referring to fig. 5, a longitudinal linear guide rail assembly I7 is composed of a sliding block I32, a sliding block II33 and an aluminum support optical axis rail I34, and the structure of a longitudinal linear guide rail assembly II16 is the same as that of the longitudinal linear guide rail assembly I7; referring to fig. 6, a sliding table I35 is arranged at the upper part of the linear sliding table I8, the sliding table I35 can move linearly along the axis of the linear sliding table I8, and the structure of the linear sliding table II12 is the same as that of the linear sliding table I8; referring to fig. 7, the transverse linear guide assembly I14 comprises an optical axis locking seat II36, a slider III37, an optical axis track I38, and an optical axis locking seat III 39; referring to fig. 8, the optical axis locking seat I27 can lock the optical axis in the axial hole thereof by installing a locking nut, and the structures of the optical axis locking seat II36 and the optical axis locking seat III39 are the same as those of the optical axis locking seat I27; referring to fig. 9, two mounting surfaces of the corner connector I11 are arranged at a right angle, and the structure of the corner connector II19 is the same as that of the corner connector I11; referring to fig. 10, a mounting hole is formed on the flange surface of the square flange guide rail bearing I22; referring to fig. 11, a mounting hole is formed on the mounting surface of the encoder I24; referring to fig. 12, the mounting surface of the encoder bracket I25 is provided with mounting holes.
The connection relation of each part is as follows: referring to the attached drawing 1, 4 support legs of a frame I1 are in contact with the ground, a mounting surface of a longitudinal linear guide rail assembly I7 and a mounting surface of a longitudinal linear guide rail assembly II16 of a cross motion platform I2 are fixedly connected with a top aluminum plate of the frame I1 through bolts, a mounting surface of a linear sliding table I8 of the cross motion platform I2 is fixedly connected with a top aluminum plate of the frame I1 through bolts, a universal wheel I29, a directional wheel I30 and a directional wheel II31 of a helicopter model I3 are in contact with an aluminum plate at the middle of the frame I1, an optical axis I28 of the helicopter model I3 penetrates through a shaft hole of a square flange guide rail bearing I22 of the cross motion platform I2 and is fixedly connected with a coupler I23 through bolts, a control box I4 and a computer I5 are placed on the aluminum plate of the frame I1, and a display I6 is fixedly connected with the frame I1 through a mounting bracket; referring to fig. 3, an angle aluminum plate III13 of a cross motion platform I2 is fixedly connected to a slider mounting surface of a longitudinal linear guide assembly I7 through bolts, an angle aluminum plate IV17 is fixedly connected to a slider mounting surface of a longitudinal linear guide assembly II16 through bolts, the angle aluminum plate III13 and the angle aluminum plate IV17 are fixedly connected to a bottom mounting surface of a linear sliding table II12 through bolts, a sliding table I35 of the linear sliding table I8 is fixedly connected to an angle aluminum plate I9 through bolts, an angle aluminum plate II10 is fixedly connected to a bottom mounting surface of the linear sliding table II12 through bolts, the angle aluminum plate I9 is fixedly connected to the angle aluminum plate II10 through an angle connector I11, two ends of a transverse linear guide assembly I14 and a transverse linear guide assembly II15 are fixedly connected to the angle aluminum plate III13 and the angle aluminum plate IV17 respectively, the angle aluminum plate VI20 is fixedly connected to slider mounting surfaces of the transverse linear guide assembly I14 and the transverse linear guide assembly II15 through bolts, the angle aluminum plate V18 is fixedly connected to a sliding table surface of the linear sliding table II12 through bolts, the angle aluminum plate V18 is fixedly connected to the angle aluminum plate VI 19 through an angle aluminum plate VI20, the angle aluminum plate VI20 is fixedly connected to the angle aluminum plate VI20 through bolts, the angle encoder is fixedly connected to the angle encoder through bolts, the angle encoder I24 and the angle encoder through bolts, and the angle encoder bracket VI bracket I24, and the angle encoder through bolts, and the angle encoder bracket VI bracket I24; referring to fig. 4, a trapezoidal aluminum plate I26 of the helicopter model I3 is fixedly connected with an optical axis locking seat I27 through bolts, an optical axis I28 is fixed in a shaft hole of the optical axis locking seat I27, and mounting surfaces of a universal wheel I29, a directional wheel I30 and a directional wheel II31 are fixedly connected with the trapezoidal aluminum plate I26 through bolts respectively.
During an experiment, a designed control method is input into the computer I5, the computer I5 transmits a control signal to the control box I4, the control box I4 transmits a driven signal to the linear sliding table I8 and the linear sliding table II12, the linear sliding table I8 and the linear sliding table II12 realize the corresponding movement of the control signal, the square flange guide rail bearing I22 drives the optical axis I28 to drive the helicopter model I3 to move, the angle information of the helicopter model I3 is transmitted to the encoder I24 through the optical axis I28 and the coupler I23, the encoder I24 transmits the angle information of the helicopter model I3 back to the computer I5 through the control box I4, the position information of the helicopter model I3 is transmitted to the position sensors inside the linear sliding table I8 and the linear sliding table II12 through the optical axis I28, and the linear sliding table I8 and the linear sliding table II12 transmit the position information of the helicopter model I3 back to the computer I5 through the control box I4, so that the helicopter model I3 is controlled to travel according to a preset track, and the display corresponding input and output information. The experimenter can evaluate the quality of the control method through the position and angle data of the helicopter model I3 fed back to the computer I5, so that the control method and the parameters of the controller are adjusted, and the control effect is optimal.
Let the position coordinates of the helicopter model I3 be x and y, the angle coordinates be theta, and the moving speed of the linear sliding table I8 be
The linear sliding table II12 has a moving speed of
Referring to fig. 13, a flow chart of the closed loop control system is shown for this purpose.
In conclusion, the invention provides the experiment table for the track control problem of the traction robot of the offshore operation helicopter, which not only reduces the experiment danger, but also can more easily and conveniently check the experiment effect, greatly simplifies the structure of the experiment table through reasonable abstraction and conversion, and in addition, the position of the optical axis I28 relative to the trapezoidal aluminum plate I26 can be arbitrarily set through the installation position of the optical axis locking seat I2, so the invention can realize the experiment on the track control problem of the traction robot of the offshore operation helicopters of different models. Meanwhile, the teaching aid can be used as a teaching tool to show the thought and the process of solving the practical engineering problem of the modern control method to students in higher education, understand the modeling thought and the control principle, realize the influence of the control parameters on the control effect, and is a good teaching aid for experimental teaching.
Claims (2)
1. The utility model provides a traction robot trajectory control experiment platform of offshore operation helicopter, its characterized in that comprises frame I (1), cross motion platform I (2), helicopter model I (3), control box I (4), computer I (5), display I (6), cross motion platform I (2) by vertical linear guide subassembly I (7), straight line slip table I (8), angle aluminium plate I (9), angle aluminium plate II (10), angle connecting piece I (11), straight line slip table II (12), angle aluminium plate III (13), horizontal linear guide subassembly I (14), horizontal linear guide subassembly II (15), vertical linear guide subassembly II (16), angle aluminium plate IV (17), angle aluminium plate V (18), angle connecting piece II (19), angle aluminium plate VI (20), angle aluminium plate VII (21), flange guide rail bearing I (22), shaft coupling I (23), encoder I (24), encoder support I (25) constitute, trapezoidal helicopter's model I (3) comprises aluminum plate I (26), locking seat I (27), optical axis I (28), directional wheel I (29), directional wheel I (32) and slider I (7), directional wheel I (32) are constituteed, the aluminium holds in the palm optical axis track I (34) and forms, and the structure of vertical linear guide subassembly II (16) is the same with vertical linear guide subassembly I (7), the upper portion of straight line slip table I (8) be equipped with slip table I (35), the structure of straight line slip table II (12) is the same with straight line slip table I (8), horizontal linear guide subassembly I (14) constitute by optical axis locking seat II (36), slider III (37), optical axis track I (38), optical axis locking seat III (39), wherein: 4 support legs of a frame I (1) are contacted with the ground, a longitudinal linear guide rail component I (7) of a cross motion platform I (2) and a mounting surface of a longitudinal linear guide rail component II (16) are fixedly connected with a top aluminum plate of the frame I (1) through bolts, a mounting surface of a linear sliding table I (8) of the cross motion platform I (2) is fixedly connected with the top aluminum plate of the frame I (1) through bolts, a universal wheel I (29), a directional wheel I (30) and a directional wheel II (31) of a helicopter model I (3) are fixedly connected with the aluminum plate in the middle of the frame I (1), an optical axis I (28) of the helicopter model I (3) penetrates through a shaft hole of a square flange guide rail bearing I (22) of the cross motion platform I (2) and is fixedly connected with a coupler I (23) through bolts, a control box I (4) and a computer I (5) are placed on the aluminum plate of the frame I (1), a display I (6) is fixedly connected with the frame I (1) through a mounting bracket, an angle aluminum plate III of the cross motion platform I (2) is fixedly connected with the frame I (1) through a bolt III) and a sliding block (13) and a sliding block (17) and is fixedly connected on the mounting surface of the aluminum plate I (17) through a longitudinal sliding block IV sliding block (17), a sliding table I (35) of a linear sliding table I (8) is fixedly connected with an angle aluminum plate I (9) through bolts, an angle aluminum plate II (10) is fixedly connected with a bottom mounting surface of a linear sliding table II (12) through bolts, the angle aluminum plate I (9) is fixedly connected with the angle aluminum plate II (10) through an angle connecting piece I (11) through bolts, two ends of a transverse linear guide rail assembly I (14) and a transverse linear guide rail assembly II (15) are fixedly connected with an angle aluminum plate III (13) and an angle aluminum plate IV (17) respectively, the angle aluminum plate VI (20) is fixedly connected with sliding block mounting surfaces of the transverse linear guide rail assembly I (14) and the transverse linear guide rail assembly II (15) through bolts, an angle aluminum plate V (18) is fixedly connected with a sliding table surface of the linear sliding table II (12) through bolts, the angle aluminum plate V (18) is fixedly connected with the angle aluminum plate VI (20) through an angle connecting piece II (19), the angle aluminum plate VII (21) is fixedly connected with an angle aluminum plate VI (20) through bolts, the angle aluminum plate VII (21) is fixedly connected with a square aluminum plate (20) through bolts, the angle aluminum plate VI) is fixedly connected with a square aluminum plate I (22) through bolts, a flange bearing I (21) is fixedly connected with an angle aluminum plate I (24) through a bolt I (24) and a trapezoidal aluminum plate I (24), and a trapezoidal aluminum plate I (24) model encoder, and a trapezoidal aluminum plate I (24) support (24, and a trapezoidal aluminum plate I (24), an optical axis I (28) is fixed in a shaft hole of an optical axis locking seat I (27), mounting surfaces of a universal wheel I (29), a directional wheel I (30) and a directional wheel II (31) are fixedly connected with a trapezoidal aluminum plate I (26) through bolts respectively, in an experiment, a designed control method is input into a computer I (5), the computer I (5) transmits a control signal to a control box I (4), the control box I (4) transmits a driven signal to a linear sliding table I (8) and a linear sliding table II (12), the linear sliding table I (8) and the linear sliding table II (12) realize the corresponding movement of the control signal, a square flange guide rail bearing I (22) drives the optical axis I (28) to drive the helicopter model I (3) to move, angle information of the helicopter model I (3) is transmitted to an encoder I (24) through the optical axis I (28) and a coupler I (23), the encoder I (24) transmits the angle information of the helicopter model I (3) back to the computer I (5) through the control box I (4), position information of the linear sliding table I (8) is transmitted to an encoder I (8) through the control box I (8) and a linear sliding table II (12), therefore, closed-loop control of the helicopter model I (3) to walk according to a preset track is achieved, the display I (6) displays corresponding input and output information, and an experimenter can evaluate the advantages and disadvantages of the control method through position and angle data of the helicopter model I (3) fed back to the computer I (5), so that the control method and controller parameters are adjusted, and the control effect is optimal.
2. The traction robot trajectory control experiment table of the offshore operation helicopter according to claim 1, characterized in that the position of the optical axis I (28) relative to the trapezoidal aluminum plate I (26) can be adjusted by the installation position of the optical axis locking seat I (27), and the movement speed of the square flange guide rail bearing I (22) can be adjusted by the movement speeds of the linear sliding table I (8) and the linear sliding table II (12).
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| CN115457833B (en) | 2024-04-19 |
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