CN115457833B - 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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- CN115457833B CN115457833B CN202211162485.5A CN202211162485A CN115457833B CN 115457833 B CN115457833 B CN 115457833B CN 202211162485 A CN202211162485 A CN 202211162485A CN 115457833 B CN115457833 B CN 115457833B
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- 238000002474 experimental method Methods 0.000 title claims abstract description 26
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 109
- 229910052782 aluminium Inorganic materials 0.000 claims description 109
- 230000003287 optical effect Effects 0.000 claims description 60
- 101000623895 Bos taurus Mucin-15 Proteins 0.000 claims 4
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- 238000013461 design Methods 0.000 abstract description 2
- 239000000523 sample Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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Classifications
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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
- 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
- G09B9/42—Aircraft, aircraft simulator or means connected thereto, travelling on the ground or water during simulated flight training
Abstract
The invention relates to a traction robot track control experiment table of an offshore 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 experiments on the traction robot track control problems of the offshore operation helicopters of different models. The invention has novel structure and ingenious design, reduces experimental risk and can test experimental effect more easily and conveniently. The invention not only can provide experimental conditions for track control research of the traction robot of the offshore operation helicopter and verify the effect of the control method, but also can be used as an experimental table for course teaching of the 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 track control experiment table of an offshore operation helicopter.
Background
With research and development of helicopter technology, helicopters are increasingly widely used in offshore operations. However, the ship lifting platform is influenced by sea conditions and has the characteristic of unstable fluctuation, so that huge safety risks exist in the ship recovery process of the helicopter. The helicopter traction robot is a key device for guaranteeing the safety of a helicopter on a ship, and has the main functions of coordinating the lifting of the helicopter on the ship, rapidly fixing the helicopter on the ship and pulling the helicopter from a lifting platform to enter a hangar or move out of the hangar to the lifting platform.
Various forms of products, such as a fish fork-grid system, a landing-assisting net-winch system, a landing-wire rope-winch system, a probe rod-gripper-winch system and the like, are designed and manufactured by domestic and foreign scholars on a traction robot of an offshore operation helicopter, and the engineering requirements of the products are met to different degrees. Currently, a probe rod-gripper-winch system is a system with minimum manual involvement and higher automation degree, and the system utilizes grippers on a traction robot to grip a probe rod at the lower part of a helicopter so as to fix the helicopter on a ship, and utilizes winches at the lower part of the robot to traction the helicopter to warehouse in and warehouse out.
However, the "probe rod-gripper-winch" system, although highly automated, still requires manual intervention during operation. For example, during the warehousing and ex-warehouse processes of the helicopter, a person still needs to manually control the moving speeds of the grippers and the winch through the controller, so that the movement of the helicopter according to a preset track is realized. The working efficiency of the system depends on the technical level and proficiency of operators, and misoperation of operators can cause miswork and even accidents. Therefore, the full automation of the probe rod-gripper-winch system is realized, and the method has important engineering significance.
In the research process of realizing the automation of the warehousing and the ex-warehouse of the helicopter by the probe rod-gripper-winch system, a large number of experiments are needed, and the real object experiments are carried out on the sea, so that the experiment device aiming at the control problem is urgently needed to be designed.
Meanwhile, with the development of science and technology, a teaching mode is also in progress, and experimental teaching is valued. Experimental teaching is particularly important for students in engineering. In order for students to fully understand what they learn, a teaching aid for science is indispensable in related teaching. In higher education of universities, teaching of modern control methods for students in the industry is important and difficult. At present, the higher institutions lack experimental platforms for teaching in combination with control problems of actual engineering backgrounds.
Disclosure of Invention
In order to fill the gap, the invention provides the track control experiment table for the traction robot of the offshore operation helicopter, which not only can provide experimental conditions for track control research of the traction robot of the offshore operation helicopter, 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 an offshore operation helicopter, which is shown in figure 1, and comprises a frame I1, a cross motion platform I2, a helicopter model I3, a control box I4, a computer I5 and a display I6. Referring to fig. 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 assembly I7, a linear sliding table I8, an angular aluminum plate I9, an angular aluminum plate II10, an angular connector I11, a linear sliding table II12, an angular aluminum plate III13, a transverse linear guide assembly I14, a transverse linear guide assembly II15, a longitudinal linear guide assembly II16, an angular aluminum plate IV17, an angular aluminum plate V18, an angular connector II19, an angular aluminum plate VI20, an angular aluminum plate VII21, a square flange guide 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, a longitudinal linear guide rail assembly I7 is composed of a slider I32, a slider II33, and an aluminum support optical axis track I34, and a 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 linearly move 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 rail assembly I14 is composed of 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 the optical axis locking seat I27; referring to fig. 9, two mounting surfaces of the corner connector I11 are arranged at right angles, and the corner connector II19 has the same structure as the corner connector I11; referring to fig. 10, a flange surface of the square flange guide rail bearing I22 is provided with a mounting hole; referring to fig. 11, a mounting hole is formed in a mounting surface of the encoder I24; referring to fig. 12, the encoder bracket I25 has a mounting hole formed in a mounting surface thereof.
The connection relation of each part is as follows: referring to fig. 1, 4 supporting legs of a frame I1 are in contact with the ground, mounting surfaces of a longitudinal linear guide rail assembly I7 and 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 the 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 surface contact with the aluminum plate in the middle of the frame I1, an optical axis I28 of the helicopter model I3 passes through a shaft hole of a square flange guide rail bearing I22 of the cross motion platform I2 to be fixedly connected with a shaft coupling 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 angular aluminum plate III13 of a cross motion platform I2 is fixedly connected to a slide block mounting surface of a longitudinal linear guide assembly II16 through bolts, an angular aluminum plate IV17 is fixedly connected to a slide block mounting surface of a longitudinal linear guide assembly I7 through bolts, an angular aluminum plate III13 and an angular aluminum plate IV17 are fixedly connected to a bottom mounting surface of a linear sliding table II12 through bolts, a sliding table I35 of a linear sliding table I8 is fixedly connected to an angular aluminum plate I9 through bolts, an angular aluminum plate II10 is fixedly connected to a bottom mounting surface of a linear sliding table II12 through bolts, an angular aluminum plate I9 is fixedly connected to an angular aluminum plate II10 through an angular connecting piece I11 through bolts, two ends of a transverse linear guide assembly I14 and a transverse linear guide assembly II15 are respectively fixedly connected to an angular aluminum plate III13 and an angular aluminum plate IV17 through bolts, an angular aluminum plate VI20 is fixedly connected to a slide block mounting surface of a transverse linear guide assembly I14 and a transverse linear guide assembly II15 through bolts, an angular aluminum plate V18 is fixedly connected to a sliding table surface of a linear sliding table II12 through bolts, an angular aluminum plate V18 is fixedly connected to an angular aluminum plate VI20 through an angular connecting piece II19, an angular aluminum plate VI 21 is fixedly connected to an angular aluminum plate VI 21 through an aluminum plate VI20 through a bolt bearing bracket I25 and an encoder I25 through a square encoder bracket I25; 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 respectively fixedly connected with the trapezoidal aluminum plate I26 through bolts.
The relative movement relationship of the parts is as follows: the linear sliding table I8 and the linear sliding table II12 are driving components of the experiment table, the sliding table I35 of the linear sliding table I8 can linearly move along the axis, so that other parts are driven to move, the linear sliding table I8 drives the linear sliding table II12 to linearly move through the connection of the angular aluminum plate I9, the angular aluminum plate II10 and the angular connecting piece I11, the longitudinal linear guide assembly I7 and the longitudinal linear guide assembly II16 play a role in supporting and guiding the linear sliding table II12 to linearly move, the linear sliding table II12 drives the square flange guide bearing I22 to linearly move through the connection of the angular aluminum plate V18, the angular connecting piece II19, the angular aluminum plate VI20 and the angular aluminum plate VII21, and the square flange guide bearing I22 drives the helicopter model I3 to move in a plane through the optical axis I28 because the driving of the linear sliding table I8 and the linear sliding table II12 is in a series connection.
The working principle of the invention is as follows:
The main function of the traction robot track control experiment table of the offshore operation helicopter is to carry out experiment 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 probe rod to control 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 motion of the winch and the gripper is replaced by the combined motion of the linear sliding table I8 and the linear sliding table II12 in the laboratory bench. During experiments, a designed control method is input into a computer I5, the computer I5 transmits control signals to a control box I4, the control box I4 transmits the signals after driving to a linear sliding table I8 and a linear sliding table II12, the linear sliding table I8 and the linear sliding table II12 realize corresponding movements of the control signals, a square flange guide rail bearing I22 drives an optical axis I28 so as to drive a helicopter model I3 to move, angle information of the helicopter model I3 is transmitted to an encoder I24 through the optical axis I28 and a coupler I23, the encoder I24 transmits the angle information of the helicopter model I3 back to the computer I5 through the control box I4, position information of the helicopter model I3 is transmitted to position sensors inside the linear sliding table I8 and the linear sliding table II12 through the optical axis I28, 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, and accordingly closed-loop control of the helicopter model I3 walking according to a preset track is realized, and the display I6 displays corresponding input and output information. The experimenter can evaluate the advantages and disadvantages 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 controller parameters are adjusted, and the control effect is optimized.
The invention has the beneficial effects that:
the invention designs the experiment table for the problem of controlling the track of the traction robot of the helicopter for offshore operation, thereby reducing the experimental risk and being easier and more convenient to test the experimental effect. Through reasonable abstraction and conversion, the probe rod in the lower part of the helicopter is placed on the upper part of the helicopter model in practice, so that the structure of the experiment table is greatly simplified, the problem that driving equipment is difficult to install due to small space in the lower part of the helicopter model is solved, the simulation of winch movement is simplified, a groove is formed in a ship deck in practice, the movement of a winch is realized above the helicopter model after the simplification, and the trouble of grooving 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 more conveniently, so that experiments on the track control problem of the traction robot of the helicopters for offshore operations of different models can be realized. Meanwhile, the method can be used as a teaching tool for showing ideas and processes of solving actual engineering problems by a modern control method to students in higher education, understanding modeling ideas and control principles and realizing the influence of control parameters on control effects, and is a good teaching tool for experimental teaching.
Drawings
FIG. 1 is a schematic diagram of a traction robot trajectory control laboratory bench of an offshore operation helicopter
FIG. 2 is a schematic structural view of the frame I1
Fig. 3 is a schematic structural view of a cross motion platform I2
Fig. 4 is a schematic structural view of helicopter model I3
FIG. 5 is a schematic view of the structure of the longitudinal linear guide assembly I7
FIG. 6 is a schematic view of the linear sliding table I8
FIG. 7 is a schematic view of the structure of the linear transverse rail assembly I14
Fig. 8 is a schematic structural view of an optical axis locking seat I27
FIG. 9 is a schematic structural view of the corner connector I11
FIG. 10 is a schematic diagram of a square flange guide bearing I22
FIG. 11 is a schematic diagram of the structure of an encoder I24
FIG. 12 is a schematic structural view of an encoder bracket I25
FIG. 13 is a flow chart of the traction robot trajectory control for an offshore helicopter
Wherein: 1. frame I2, cross motion platform I3, helicopter model I4, control box I5, computer I6, display I7, longitudinal linear guide assembly I8, linear slide I9, angular aluminum plate I10, angular aluminum plate II 11, angular connector I12, linear slide II 13, angular aluminum plate III 14, transverse linear guide assembly I15, transverse linear guide assembly II 16, longitudinal linear guide assembly II 17, angular aluminum plate IV 18, angular aluminum plate V19, angular connector II 20, angular aluminum plate VI 21, angular aluminum plate VII 22, square flange guide bearing I23, coupler I24, encoder I25, encoder bracket I26, trapezoidal aluminum plate I27, optical axis locking base I28, optical axis I29, universal wheel I30, directional wheel I31, directional wheel II 32, slider I33, slider II 34, aluminum bracket optical axis track I35, slide I36, optical axis locking base II 37, optical axis track I39, optical axis locking base III
Detailed Description
The invention relates to a traction robot track control experiment table of an offshore operation helicopter, which is shown in figure 1, and comprises a frame I1, a cross motion platform I2, a helicopter model I3, a control box I4, a computer I5 and a display I6. Referring to fig. 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 assembly I7, a linear sliding table I8, an angular aluminum plate I9, an angular aluminum plate II10, an angular connector I11, a linear sliding table II12, an angular aluminum plate III13, a transverse linear guide assembly I14, a transverse linear guide assembly II15, a longitudinal linear guide assembly II16, an angular aluminum plate IV17, an angular aluminum plate V18, an angular connector II19, an angular aluminum plate VI20, an angular aluminum plate VII21, a square flange guide 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, a longitudinal linear guide rail assembly I7 is composed of a slider I32, a slider II33, and an aluminum support optical axis track I34, and a 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 linearly move 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 rail assembly I14 is composed of 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 the optical axis locking seat I27; referring to fig. 9, two mounting surfaces of the corner connector I11 are arranged at right angles, and the corner connector II19 has the same structure as the corner connector I11; referring to fig. 10, a flange surface of the square flange guide rail bearing I22 is provided with a mounting hole; referring to fig. 11, a mounting hole is formed in a mounting surface of the encoder I24; referring to fig. 12, the encoder bracket I25 has a mounting hole formed in a mounting surface thereof.
The connection relation of each part is as follows: referring to fig. 1, 4 supporting legs of a frame I1 are in contact with the ground, mounting surfaces of a longitudinal linear guide rail assembly I7 and 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 the 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 surface contact with the aluminum plate in the middle of the frame I1, an optical axis I28 of the helicopter model I3 passes through a shaft hole of a square flange guide rail bearing I22 of the cross motion platform I2 to be fixedly connected with a shaft coupling 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 angular aluminum plate III13 of a cross motion platform I2 is fixedly connected to a slide block mounting surface of a longitudinal linear guide assembly II16 through bolts, an angular aluminum plate IV17 is fixedly connected to a slide block mounting surface of a longitudinal linear guide assembly I7 through bolts, an angular aluminum plate III13 and an angular aluminum plate IV17 are fixedly connected to a bottom mounting surface of a linear sliding table II12 through bolts, a sliding table I35 of a linear sliding table I8 is fixedly connected to an angular aluminum plate I9 through bolts, an angular aluminum plate II10 is fixedly connected to a bottom mounting surface of a linear sliding table II12 through bolts, an angular aluminum plate I9 is fixedly connected to an angular aluminum plate II10 through an angular connecting piece I11 through bolts, two ends of a transverse linear guide assembly I14 and a transverse linear guide assembly II15 are respectively fixedly connected to an angular aluminum plate III13 and an angular aluminum plate IV17 through bolts, an angular aluminum plate VI20 is fixedly connected to a slide block mounting surface of a transverse linear guide assembly I14 and a transverse linear guide assembly II15 through bolts, an angular aluminum plate V18 is fixedly connected to a sliding table surface of a linear sliding table II12 through bolts, an angular aluminum plate V18 is fixedly connected to an angular aluminum plate VI20 through an angular connecting piece II19, an angular aluminum plate VI 21 is fixedly connected to an angular aluminum plate VI 21 through an aluminum plate VI20 through a bolt bearing bracket I25 and an encoder I25 through a square encoder bracket I25; 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 respectively fixedly connected with the trapezoidal aluminum plate I26 through bolts.
During experiments, a designed control method is input into a computer I5, the computer I5 transmits control signals to a control box I4, the control box I4 transmits the signals after driving to a linear sliding table I8 and a linear sliding table II12, the linear sliding table I8 and the linear sliding table II12 realize corresponding movements of the control signals, a square flange guide rail bearing I22 drives an optical axis I28 so as to drive a helicopter model I3 to move, angle information of the helicopter model I3 is transmitted to an encoder I24 through the optical axis I28 and a coupler I23, the encoder I24 transmits the angle information of the helicopter model I3 back to the computer I5 through the control box I4, position information of the helicopter model I3 is transmitted to position sensors inside the linear sliding table I8 and the linear sliding table II12 through the optical axis I28, 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, and accordingly closed-loop control of the helicopter model I3 walking according to a preset track is realized, and the display I6 displays corresponding input and output information. The experimenter can evaluate the advantages and disadvantages 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 controller parameters are adjusted, and the control effect is optimized.
The position coordinates of the helicopter model I3 are set as x and y, the angle coordinates are set as theta, and the moving speed of the linear sliding table I8 is set asThe sliding table moving speed of the linear sliding table II12 is/>Referring to fig. 13, a flow chart of a closed loop control system therefor is shown.
In conclusion, the invention provides the experiment table for the problem of controlling the track of the traction robot of the helicopter for offshore operation, which not only reduces the experimental risk, but also can test the experimental effect more easily and conveniently. Through reasonable abstraction and conversion, the structure of the experiment table is greatly simplified, and in addition, as the position of the optical axis I28 relative to the trapezoidal aluminum plate I26 can be set at will through the installation position of the optical axis locking seat I27, the invention can realize experiments on the track control problem of traction robots of helicopters for offshore operations of different models. Meanwhile, the method can be used as a teaching tool for showing ideas and processes of solving actual engineering problems by a modern control method to students in higher education, understanding modeling ideas and control principles and realizing the influence of control parameters on control effects, and is a good teaching tool for experimental teaching.
Claims (2)
1. The traction robot track control experiment table of the offshore operation helicopter is characterized by comprising a frame I (1), a cross motion platform I (2), a helicopter model I (3), a control box I (4), a computer I (5) and a display I (6), wherein the cross motion platform I (2) comprises a longitudinal linear guide rail component I (7), a linear sliding table I (8), an angular aluminum plate I (9), an angular aluminum plate II (10), an angular connecting piece I (11), a linear sliding table II (12), an angular aluminum plate III (13), a transverse linear guide rail component I (14), a transverse linear guide rail component II (15), a longitudinal linear guide rail component II (16), an angular aluminum plate IV (17), an angular aluminum plate V (18), an angular connecting piece II (19), an angular aluminum plate VI (20), an angular aluminum plate VII (21), a square flange guide rail bearing I (22), a coupler I (23), an encoder I (24) and an encoder bracket I (25), and the helicopter model I (3) comprises an optical axis I (26), a locking seat I (27), an optical axis I (28), a universal wheel I (29), an orientation wheel I (31) and a linear guide rail component II (33) which comprises longitudinal guide rails II (32) The aluminum support optical axis track I (34) is formed, the structure of the longitudinal linear guide rail assembly II (16) is identical to that of the longitudinal linear guide rail assembly I (7), a sliding table I (35) is arranged on the upper portion of the linear sliding table I (8), the structure of the linear sliding table II (12) is identical to that of the linear sliding table I (8), and the transverse linear guide rail assembly I (14) is formed by an optical axis locking seat II (36), a sliding block III (37), an optical axis track I (38) and an optical axis locking seat III (39), wherein: the 4 supporting legs of the frame I (1) are contacted with the ground, the mounting surfaces of the longitudinal linear guide rail component I (7) and the longitudinal linear guide rail component II (16) of the cross motion platform I (2) are fixedly connected with the top aluminum plate of the frame I (1) through bolts, the mounting surface of the 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, the universal wheel I (29), the directional wheel I (30) and the directional wheel II (31) of the helicopter model I (3) are contacted with the aluminum plate surface in the middle of the frame I (1), the optical axis I (28) of the helicopter model I (3) passes through the shaft hole of the square flange guide rail bearing I (22) of the cross motion platform I (2) and is fixedly connected with the shaft coupler I (23) through bolts, the control box I (4) and the computer I (5) are placed on the aluminum plate of the frame I (1) through mounting brackets, the angle III (13) of the cross motion platform I (2) is fixedly connected with the linear sliding block component IV (16) through the longitudinal sliding block component IV on the mounting surface of the linear sliding table (17) through bolts, the angle IV (17) is fixedly connected with the linear sliding block component IV (17) of the linear sliding block I (16) through the angle IV (17) through bolts, the sliding table I (35) of the linear sliding table I (8) is fixedly connected with the angular aluminum plate I (9) through bolts, the angular aluminum plate II (10) is fixedly connected with the bottom mounting surface of the linear sliding table II (12) through bolts, the angular aluminum plate I (9) is fixedly connected with the angular aluminum plate II (10) through an angular connecting piece I (11), the two ends of the transverse linear guide assembly I (14) and the transverse linear guide assembly II (15) are respectively fixedly connected with the angular aluminum plate III (13) and the angular aluminum plate IV (17), the angular aluminum plate VI (20) is fixedly connected with the sliding block mounting surface of the transverse linear guide assembly I (14) and the sliding block mounting surface of the transverse linear guide assembly II (15) through bolts, the angular aluminum plate V (18) is fixedly connected with the angular aluminum plate VI (20) through an angular connecting piece II (19), the angular aluminum plate VII (21) is fixedly connected with the angular aluminum plate VI (20) through bolts, the square flange bearing I (22) is fixedly connected with the angular aluminum plate VII (21) through bolts, the encoder bracket I (25) is fixedly connected with the encoder I (24) through a trapezoid bracket I (24) through bolts, the encoder I (23) is fixedly connected with the encoder I (24) through bolts, the optical axis I (28) is fixed in the shaft hole of the optical axis locking seat I (27), the universal wheel I (29), the directional wheel I (30) and the directional wheel II (31) are respectively fixedly connected with the trapezoid aluminum plate I (26) through bolts, a designed control method is input into the computer I (5) during experiments, the computer I (5) transmits a control signal to the control box I (4), the control box I (4) transmits the driven signal to the linear sliding table I (8) and the linear sliding table II (12), the linear sliding table I (8) and the linear sliding table II (12) realize corresponding movement of the control signal, the square flange guide rail bearing I (22) drives the optical axis I (28) to drive the helicopter model I (3) to move, the angle information of the helicopter model I (3) is transmitted to the encoder I (24) through the optical axis I (28) and the 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), the position information of the helicopter model I (3) is transmitted to the linear sliding table I (8) and the linear sliding table II (12) through the linear sliding table I (28) to realize corresponding movement of the control signal, the linear sliding table I (8) and the linear sliding table II (12) transmit the position information of the helicopter model I (3) back to the computer I (5) through the control box I (4), so that closed-loop control of the helicopter model I (3) walking according to a preset track is realized, the display I (6) displays corresponding input and output information, and an experimenter can evaluate the advantages and disadvantages of a control method through the position and angle data of the helicopter model I (3) fed back to the computer I (5), so that the control method and the controller parameters are adjusted, and the control effect is optimized.
2. A traction robot trajectory control laboratory bench of an offshore helicopter according to claim 1, characterized in that the position of the optical axis I (28) relative to the trapezoidal aluminum plate I (26) is adjustable by means of the mounting position of the optical axis locking seat I (27), and the movement speed of the square flange guide bearing I (22) is adjustable by means of the movement speeds of the linear slide I (8) and the linear slide II (12).
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