Shipboard helicopter quick-hold device capture method

Abstract

The application provides a shipborne helicopter quick clamping device capturing method, comprising the following steps: S1, capturing stroke is detected according to a displacement sensor, and S2 is executed; S2, stroke judgment is performed on the capturing stroke, when the capturing stroke is a short stroke, S3 is executed; when the capturing stroke is a medium stroke or a long stroke, S4 is executed; S3, when a mechanical arm is accelerated to a rated speed, a working condition one strategy is executed; S4, according to the medium stroke or the long stroke, buffer time and uniform motion buffer length of each stage are set, and S5 is executed; S5, according to the buffer time and the uniform motion buffer length of each stage, each stage buffer starting displacement corresponding to the speed of each stage is obtained, and S6 is executed; S6, real-time displacement monitoring is performed on the mechanical arm to obtain a real-time speed of the mechanical arm, and S7 is executed; S7, corresponding brake strategies are executed according to buffer point judgment and buffer interval judgment. The application can not only guarantee that the brake displacement has good control precision and stability, but also effectively suppress the brake pressure impact of the system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of shipborne helicopter comprehensive support technology, in particular, especially relates to a shipborne helicopter quick clamping device capturing method. BACKGROUND

[0002] After the helicopter lands, in order to avoid the helicopter from sliding and turning over due to the deck movement, the helicopter capturing operation needs to be carried out. That is, after the quick clamping device reaches the specified capturing position, the double mechanical arms quickly approach the aircraft tire laterally, and capture the fixed rod on the outer shaft of the tire to complete the helicopter deck fixing operation.

[0003] In the capturing operation process, the lateral capturing movement of the mechanical arm of the quick clamping device is the most critical and core step, which has high requirements for time indicators and position control accuracy. The mechanical arm of the quick clamping device is driven by a hydraulic ejection system, which has the characteristics of fast response and high power-to-weight ratio.

[0004] When the mechanical arm of the current quick clamping device approaches the outer shaft of the tire to capture the outer probe rod, only the travel switch touches the limiting device to give a braking signal for quick braking, which can cause a cliff-like drop in speed, and the control accuracy and stability of the braking displacement are too low, and the hydraulic system can also cause a sharp braking pressure impact. In addition, due to the low braking displacement accuracy caused by quick braking, the mechanical arm displacement needs to be adjusted twice, which has the problems of low capturing efficiency, large mechanical stress impact of the capturing device in the capturing process, and large hydraulic system pressure pulsation. SUMMARY

[0005] In order to solve the technical problem of low capturing efficiency caused by low braking control accuracy of the existing mechanical arm, a shipborne helicopter quick clamping device capturing method is provided. By increasing a braking buffer length based on the variable capturing speed at the end of the capturing stroke, the speed of the mechanical arm is gradually reduced to within the allowable range of the braking displacement error during the buffer process, and then the brake is applied. Obviously, such braking not only ensures good control accuracy and stability of the braking displacement, but also effectively suppresses the braking pressure impact of the system. In addition, the secondary displacement adjustment process is omitted, which can offset a part of the time delay caused by the introduction of the braking buffer process.

[0006] The technical means adopted by the present application are as follows:

[0007] A shipborne helicopter quick clamping device capturing method comprises the following steps:

[0008] S1, detecting the capturing stroke according to the displacement sensor, and performing S2;

[0009] S2, stroke judgment is performed on the capture stroke, when the capture stroke is a short stroke, S3 is executed; when the capture stroke is a medium stroke or a long stroke, S4 is executed;

[0010] S3, the control valve port on the mechanical arm oil inlet and return oil way is opened at a constant speed, when the mechanical arm accelerates to the rated speed, the working condition one strategy is executed;

[0011] S4, the buffer time and the constant speed motion buffer length of each stage are set according to the medium stroke or the long stroke, and S5 is executed;

[0012] S5, the stage buffer start displacement corresponding to the speed of each stage is obtained according to the buffer time and the constant speed motion buffer length of each stage, and S6 is executed;

[0013] S6, the real-time displacement and real-time speed of the mechanical arm are monitored through the displacement sensor and the speed sensor, and S7 is executed;

[0014] S7, based on the stage buffer start displacement and the speed corresponding to each stage, the real-time displacement of the mechanical arm is judged, the real-time speed of the mechanical arm is judged, and the corresponding brake strategy is executed according to the buffer point judgment and the buffer interval judgment.

[0015] Further, the specific steps of S6 are as follows:

[0016] S61, high-speed buffer point judgment is performed on the real-time displacement of the mechanical arm, when the mechanical arm is not in the high-speed buffer point, the parameter monitoring is returned to S6; when the mechanical arm is in the high-speed buffer point, S62 is executed;

[0017] S62, high-speed interval judgment is performed on the real-time speed of the mechanical arm, when the mechanical arm is in the high-speed interval, the working condition two strategy is executed; when the mechanical arm is not in the high-speed interval, S63 is executed;

[0018] S63, medium-speed buffer point judgment is performed on the real-time displacement of the mechanical arm, when the mechanical arm is not in the medium-speed buffer point, the parameter monitoring is returned to S6; when the mechanical arm is in the medium-speed buffer point, S64 is executed;

[0019] S64, medium-speed interval judgment is performed on the real-time speed of the mechanical arm, when the mechanical arm is in the medium-speed interval, the working condition three strategy is executed; when the mechanical arm is not in the medium-speed interval, S65 is executed;

[0020] S65, low-speed buffer point judgment is performed on the real-time displacement of the mechanical arm, when the mechanical arm is not in the low-speed buffer point, the parameter monitoring is returned to S6; when the mechanical arm is in the low-speed buffer point, the working condition four strategy is executed.

[0021] Further, the working condition one strategy is as follows: the mechanical arm runs at a constant speed at the rated speed, and after the mechanical arm reaches the brake position, the control valve port on the oil inlet and return oil way is closed to brake.

[0022] The strategy for working condition two is as follows: the robotic arm performs uniform deceleration buffer braking under the uniform deceleration buffer time of working condition two, and the speed is reduced from the high speed range to the medium speed range, the low speed range, and finally reduced to the rated speed to meet the current system error requirements.

[0023] The three working conditions strategy is as follows: The robotic arm performs uniform deceleration buffer braking under the uniform deceleration buffer time of working condition three, reducing the speed from the medium speed range to the low speed range, and finally reducing it to the rated speed to meet the current system error requirements;

[0024] The strategy for working condition four is as follows: The robotic arm performs uniform deceleration buffer braking under the uniform deceleration buffer time of working condition four, reducing the speed from the low speed range to the rated speed to meet the current system error requirements;

[0025] The buffer time for uniform deceleration under operating condition 2 is greater than that under operating condition 3, which is greater than that under operating condition 4.

[0026] Furthermore, when the buffer start point is v-s In the characteristic curve, during the initial stage of the robotic arm's start-up, the capture stroke is short, and when the buffer start point is... v-s During the acceleration phase of the robotic arm's characteristic curve, the capture stroke is at the mid-stroke level, and the buffer start point is at... v- s When the robotic arm is running at high speed, the capture stroke is a long stroke in the characteristic curve.

[0027] Furthermore, S4 specifically includes the following steps:

[0028] Set the buffer time and uniform motion buffer length for each stage according to the medium or long stroke.

[0029] Establish a hydraulic catapult system v-s Characteristic curve coordinate system, initial braking velocity v x Displacement of the buffer starting point s x The straight line corresponding to the relational expression in the coordinate system is the braking control line, and the expression for the braking control line is as follows:

[0030] (4)

[0031] The intersection of the braking control line and the robot arm's vs characteristic curve is the buffer starting point A, and the coordinates of the buffer starting point A are ( ). s x , v x ); the v - s The characteristic curve is the velocity-displacement relationship curve of the robotic arm in uniform deceleration braking mode, due to the buffer starting point A. vx The deceleration acceleration is a known value, and the buffer time required for the current working condition can be solved by the above formula t ;

[0032] The uniform motion buffer length is d 0.1m.

[0033] Further, S5 specifically includes the following steps:

[0034] The buffer start displacement of each stage corresponding to the speed of each stage is obtained according to the buffer time of each stage and the uniform motion buffer length of each stage;

[0035] Then, the braking buffer length is obtained by integrating the speed-displacement relationship curve with time x As follows; the initial braking speed is v x , the uniform deceleration process takes t , the uniform motion process length is d , and the braking buffer length x is:

[0036] (1)

[0037] The mechanical arm capture stroke is L , and the displacement of the braking buffer start point A is s x , then:

[0038] (2)

[0039] The displacement of the buffer start point A is s x :

[0040] .(3)

[0041] Further, the high-speed buffer point, the medium-speed buffer point, and the low-speed buffer point are preset values; the speed of the high-speed buffer point v ranges from 1.8m / s to v 2.5m / s; the speed of the medium-speed buffer point v ranges from 1.1m / s to v 1.8m / s; the speed of the low-speed buffer point v ranges from 0.4m / s to v 1.1m / s; the speed of the mechanical arm in the working condition one v ranges from v＜ 0.4m / s, and the mechanical arm capture precision error at this speed is within the acceptable range of process requirements, so there is no need to set a speed buffer point.

[0042] Further, the mechanical arm capturing process of the working condition one strategy comprises a mechanical arm starting and accelerating running stage and a uniform speed running buffer stage.

[0043] The mechanical arm capturing process of the working condition two strategy comprises a mechanical arm starting, accelerating running, high speed running stage, uniform deceleration buffer braking stage and uniform speed running buffer stage.

[0044] The mechanical arm capturing process of the working condition three strategy comprises a mechanical arm starting, accelerating running stage, uniform deceleration buffer braking stage and uniform speed running buffer stage.

[0045] The mechanical arm capturing process of the working condition four strategy comprises a mechanical arm starting, accelerating running stage, uniform deceleration buffer braking stage and uniform speed running buffer stage.

[0046] The application also provides a storage medium comprising a stored program, wherein the program, when executed, performs any of the shipborne helicopter quick clamping device capturing methods.

[0047] The application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs any of the shipborne helicopter quick clamping device capturing methods by executing the computer program.

[0048] Compared with the prior art, the application has the following advantages:

[0049] The application applies the shipborne quick clamping device capturing braking speed control principle and the braking buffer length control strategy based on the variable capturing speed to the braking of the shipborne quick clamping device capturing operation hydraulic ejection system. First, the capturing distance information measured by the displacement sensor is used to determine the capturing stroke and predict the working condition of the current capturing operation. Then, the speed and displacement of each buffer point of the current capturing operation are predicted through the v-s characteristic curve of the hydraulic ejection system. Finally, through real-time displacement monitoring, high speed buffer point determination, high speed interval determination, medium speed buffer point determination, medium speed interval determination and low speed buffer point determination are performed, so that the mechanical arm under different capturing speeds can enter the corresponding braking mode, the working condition braking is realized, the efficiency of the shipborne quick clamping device capturing operation is effectively improved, the control precision and stability of the braking process are ensured, and the mechanical system stress impact and hydraulic system pressure impact pulsation in the system braking operation process are effectively inhibited. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0051] Figure 1 A schematic diagram of a capturing shipborne helicopter according to the present application.

[0052] Figure 2 An initial position relationship between a mechanical arm and a tire in a lateral capturing motion according to the present application.

[0053] Figure 3 A system diagram of a partial hardware configuration of a capturing system according to the present application.

[0054] Figure 4 A speed control principle diagram of a braking buffer process according to the present application.

[0055] Figure 5 A speed displacement characteristic diagram of a mechanical arm in a capturing motion according to the present application.

[0056] Figure 6 A speed control principle diagram of a braking buffer process in a long stroke according to the present application.

[0057] Figure 7 A speed curve diagram of a mechanical arm in a capturing motion in a long stroke according to the present application.

[0058] Figure 8 A speed control principle diagram of a braking buffer process in a medium stroke according to the present application.

[0059] Figure 9 A speed curve diagram of a mechanical arm in a capturing motion in a medium stroke according to the present application.

[0060] Figure 10 A speed control principle diagram of a braking buffer process in a short stroke according to the present application.

[0061] Figure 11 A speed curve diagram of a mechanical arm in a capturing motion in a short stroke according to the present application.

[0062] Figure 12 A logic diagram of a braking buffer control strategy based on a variable capturing speed according to the present application.

[0063] Figure 13 A braking buffer control diagram in a low speed and short stroke according to the present application.

[0064] Figure 14 A braking buffer control diagram in a high speed and long stroke according to the present application.

[0065] Figure 15 Fig. 2 shows a schematic diagram of a medium-speed, medium-stroke cushion brake control according to the present application.

[0066] Figure 16 Fig. 3 shows a schematic diagram of a low-speed, medium-stroke cushion brake control according to the present application.

[0067] Fig. 1 shows a schematic diagram of a tire capturing device according to the present application. DETAILED DESCRIPTION

[0068] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0069] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. The description of the at least one exemplary embodiment is actually only illustrative, but not intended to limit the present application and its application or use in any way. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort fall within the scope of the present application.

[0070] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of a feature, step, operation, device, component and / or combinations thereof.

[0071] Unless specifically stated otherwise, the relative arrangements of the components and steps, numerical expressions, and numerical values set forth in the various examples herein are not limiting of the scope of the application. Also, it is to be understood that the various equivalents can be employed in practice and are intended to be included herein. No single feature is essential to the application unless the context clearly indicates otherwise. In addition, it should be understood that the drawings are not necessarily to scale and that the various parts of the drawings can be exaggerated in order to illustrate certain features more clearly. Techniques, methods, and apparatuses known to those of ordinary skill in the art can not be discussed in detail, but are intended to be understood as a part of the specification, where appropriate. In all examples shown and discussed herein, any specific values are intended to be exemplary only and are not limiting. Other examples of the exemplary embodiments can have different values. It is noted that like numbers and letters on the figures identify like parts throughout the disclosure, and thus, once defined, no further discussion of such parts is necessary.

[0072] The application adopts the following technical solutions:

[0073] A shipborne helicopter quick clamping device capturing method, comprising: a shipborne quick clamping device capturing braking speed control principle, and a braking buffer length control strategy based on variable capturing speed.

[0074] Based on the above idea, the shipborne quick clamping device capturing braking speed control principle is as follows: the braking buffer process is divided into two stages, the first is the speed decreasing stage, and the second is the low-speed constant speed movement stage within the allowable range of braking displacement error. Considering that the buffer length and the buffer time are strictly limited, if a complex form of speed control scheme is adopted, great control difficulty will be faced, especially on the ship equipment, the harsh and complex working environment will have a great adverse effect on the control accuracy and dynamic performance under the complex control scheme, therefore, the speed decreasing form here is not suitable for adopting a complex control mode. In order to reduce the speed control difficulty, the paper proposes to adopt uniform deceleration form to reduce the speed of the mechanical arm in the buffer process, which reduces the speed control difficulty.

[0075] In addition, the constant speed movement stage within the allowable range of braking displacement error plays a fault-tolerant role for the displacement and speed tracking error of the uniform deceleration stage to a certain extent, that is, even if a certain amount of displacement and speed tracking error is generated in the uniform deceleration stage, it will not have any effect on the control target of the constant speed movement stage, because the constant speed movement stage only needs to keep the speed constant.

[0076] According to the above-mentioned buffer process speed control idea, the braking buffer process is divided into two parts of uniform deceleration movement stage and constant speed movement stage, after the mechanical arm reaches the braking position, the control valve port on the oil inlet and return oil circuit is quickly closed. If the initial braking speed is assumed to be v x (m / s), the uniform deceleration process lasts for t (s), the constant speed movement process length is d (mm), then the braking buffer length x (mm) is:

[0077]

[0078] Assuming that the mechanical arm capturing stroke is L , the displacement of the braking buffer starting point A is s x , then the relationship between them is:

[0079]

[0080] The displacement of the buffer starting point A can be obtained as: s x :

[0081]

[0082] The above formula describes the initial braking velocity. v x Displacement of the buffer starting point s x The relationship between the time parameter. From this formula, it can be seen that if the time parameter... t and the length of uniform motion d Given the displacement of the buffer start point A s x Mainly due to the capture process L and initial braking speed v x The decision, i.e., the buffer start position, depends on the capture stroke. L and initial braking speed v x It changes with the change. This article will discuss the initial braking speed. v x Displacement of the buffer starting point s x The relation in v - s The straight line corresponding to the coordinate system is called the braking control line, and its general expression is:

[0083]

[0084] Based on the physical meaning of the buffer starting point A, it can be known that buffer starting point A represents the brake control line and the robotic arm. v - s The coordinates of the intersection of the characteristic curves are ( s x , v x It should be noted that here... v - s The characteristic curve refers to the velocity-displacement relationship curve of the robotic arm under uniform deceleration braking mode. Under the same capture conditions, the robotic arm... v - s The characteristics are deterministic, when the parameters t and d When known, the position of the buffer start point A is mainly determined by the capture stroke. L This decision indicates the initial speed of the braking buffer. v x and buffer length x From the capture journey L The decision can be further understood as a matching relationship between the buffer length and the capture stroke, thereby ensuring that different capture strokes have appropriate buffer lengths.

[0085] And since the quick clamping device mechanical arm is driven by a hydraulic ejection system, the mechanical arm can be accelerated to a high speed in a short time v - s The characteristic curve is divided into three parts: a starting stage, an acceleration running stage, and a high-speed running stage. Through the above-mentioned shipborne quick clamping device capture braking speed control principle, the braking buffer control of the buffer starting point in the three stages is analyzed. In order to facilitate analysis, the capture stroke is divided into three levels according to length, i.e., long stroke, medium stroke, and short stroke, and a braking buffer length control strategy based on variable capture speed is proposed.

[0086] Before the capture motion starts, the system determines whether the current stroke belongs to the short stroke or the medium and long stroke according to the capture stroke of the mechanical arm. If it is the short stroke ( L ≤ L min ), the mechanical arm is controlled according to the above-mentioned speed control method under the short stroke; if the stroke is the medium and long stroke ( L > L min ), the uniform deceleration braking buffer is started from the initial braking speed according to the above-mentioned method. Obviously, the buffer length of the mechanical arm braking control method proposed by the application varies according to the capture stroke, has the characteristic of variable length, realizes the flexible configuration of the braking buffer length under different capture strokes, and is called the braking speed control method with variable buffer length. The four working conditions of the application are described below.

[0087] Working condition 1: If the displacement sensor detects that the current capture process is a short stroke capture operation, i.e., the maximum speed of the mechanical arm under the current short distance capture stroke will not exceed the speed range allowed by the braking displacement error, i.e., the braking under this speed can meet the current system braking displacement control accuracy and stability, and the system error requirement has been basically met, the mechanical arm does not need to decelerate and brake, but directly accelerates to the maximum speed within the range allowed by the braking displacement error and keeps uniform motion.

[0088] Working condition 2: If the displacement sensor detects that the current capture process is a high-speed long-stroke capture operation, that is, the maximum speed of the mechanical arm in the current long-stroke capture process exceeds the speed range allowed by the brake displacement error, and the mechanical arm is in a high-speed running stage, therefore, uniform deceleration buffer braking is needed to reduce the speed to the speed range allowed by the brake displacement error to meet the current system error requirement. The mechanical arm capture process includes three stages: 1) mechanical arm starting, acceleration running, high-speed running stage, 2) uniform deceleration buffer braking stage, 3) uniform speed running buffer stage. Since the speed of the mechanical arm in the high-speed running stage is high, in order to ensure that the hydraulic system has small impact during the deceleration braking process, the uniform deceleration buffer time set in working condition two, working condition three and working condition four has the longest proportion.

[0089] Working condition 3: If the displacement sensor detects that the current capture process is a medium-speed medium-stroke capture operation, that is, the maximum speed of the mechanical arm in the current medium-stroke capture process exceeds the speed range allowed by the brake displacement error, and the mechanical arm will be in an acceleration running stage, therefore, uniform deceleration buffer braking is needed to reduce the speed to the speed range allowed by the brake displacement error to meet the current system error requirement. The mechanical arm capture process includes three stages: 1) mechanical arm starting, acceleration running stage, 2) uniform deceleration buffer braking stage, 3) uniform speed running buffer stage. Since the maximum speed of the mechanical arm in the medium-speed running stage is lower than that in the high-speed long-stroke and higher than that in the low-speed medium-stroke, the uniform deceleration buffer time set in working condition two, working condition three and working condition four has a medium proportion.

[0090] Working condition 4: If the displacement sensor detects that the current capture process is a low-speed medium-stroke capture operation, that is, the maximum speed of the mechanical arm in the current medium-stroke capture process exceeds the speed range allowed by the brake displacement error, and the mechanical arm will be in an acceleration running stage, therefore, uniform deceleration buffer braking is needed to reduce the speed to the speed range allowed by the brake displacement error to meet the current system error requirement. The mechanical arm capture process includes three stages: 1) mechanical arm starting, acceleration running stage, 2) uniform deceleration buffer braking stage, 3) uniform speed running buffer stage. Since the maximum speed of the mechanical arm in the medium-speed running stage is the lowest in the medium-stroke capture, in addition to ensuring that the hydraulic system has small impact during the deceleration braking process, it is also necessary to ensure the efficiency of the capture process, therefore, the uniform deceleration buffer time set in working condition two, working condition three and working condition four has the shortest proportion.

[0091] The application will be further described in detail below in combination with the drawings:

[0092] Figure 1 A schematic diagram of the fast clamping equipment for capturing a shipboard helicopter, the mechanical arm captures the helicopter probe horizontally from both sides to the middle until clamping the helicopter probe, which will be described in detail below.

[0093] Before the fast clamping equipment starts the horizontal capture movement, the initial positional relationship between the mechanical arm and the tire is as shown in Figure 2As shown, the initial distance between the left and right robotic arms is S0, the initial distance between the left robotic arm and the left tire is S1, the initial distance between the right robotic arm and the right tire is S2, and the distance between the left and right main wheels is S3. The sizes of S1 and S2 depend on the actual landing position of the helicopter, the size of S0 is determined by the design parameters of the quick-tethering device, and the size of S3 depends on the helicopter model. Obviously, in the study for a specific model, S0 and S3 can be regarded as constant values.

[0094] The speed control principle of the braking and buffering process in the capture process of this invention is as follows: Figure 3 As shown. The speed control principle of the braking and buffering process in the capture process of this invention is as follows. Figure 3 As shown. It includes the following parts: capture device housing 1; capture robotic arm 2; ranging sensor 3; tire-mounted capture probe 4; tire 5; axle 6. Because the robotic arm braking process uses an "emergency braking" method, the lower the initial braking speed of the robotic arm, the higher the displacement control accuracy and stability during braking, and the smaller the system pressure impact. If the robotic arm has a large positional error after braking, the system needs to perform secondary adjustments to the displacement of the robotic arm to ensure that the deviation between the actual stopping position and the target position is within a reasonable range. When the braking speed is less than or equal to... v At 1 m / s, the braking displacement control accuracy and stability basically meet the system error requirements, so there is no need to make secondary adjustments to the braking displacement.

[0095] The braking and buffering speed control principle of this invention includes three stages, such as... Figure 3 The diagrams show the pre-braking stage, the uniform deceleration stage, and the constant speed stage, respectively. The specific braking principle is as follows:

[0096] 1) If the speed of the robotic arm before braking is greater than v If the speed is 1 m / s, a braking buffer process will be added at the end of the capture operation; 2) During the uniform deceleration phase, the speed of the robotic arm will be gradually reduced to 1 m / s. v 1m / s; 3) Then with v The system moves at a constant speed of 1 m / s until braking. This not only ensures good control accuracy and stability of the braking displacement, but also effectively suppresses the impact of braking pressure on the system and saves the time required for secondary adjustments when the position error is large.

[0097] A schematic diagram of the velocity-displacement characteristics of the robotic arm at each stage of the capture motion process of the present invention (hereinafter referred to as "the diagram"). v-s Characteristic curves) Figure 5 As shown. Because the hydraulic catapult system used in this invention employs a high-pressure accumulator as the power source and a high-speed hydraulic cylinder as the actuator, the movement of the robotic arm includes three stages: the starting stage, the acceleration stage, and the high-speed operation stage. Combined with... Figure 4The application discloses a brake buffer process speed control principle in a capturing process of the application, namely a brake buffer process speed control strategy of three stages of starting, accelerating operation and high-speed operation can be formulated. Since the capturing stroke of the mechanical arm in the three stages of starting, accelerating operation and high-speed operation is not equal, in order to facilitate the distinction, the application divides the capturing stroke into three levels according to the length, namely a short stroke, a middle stroke and a long stroke. The three levels are mainly divided according to the position distribution of the buffer starting point in the characteristic curve, if the buffer starting point is in the starting stage of the mechanical arm, the short capturing stroke is determined; if the buffer starting point is in the accelerating operation stage of the mechanical arm, the middle capturing stroke is determined; if the buffer starting point is in the high-speed operation stage of the mechanical arm, the long capturing stroke is determined. v-s The specific principle of calculating the brake buffer starting point of the mechanical arm under different motion speeds and the brake speed control under each stroke are described as follows.

[0098] The specific principle of calculating the brake buffer starting point of the mechanical arm under different motion speeds and the brake speed control under each stroke are described as follows.

[0099] According to the brake buffer process speed control principle provided by the application, the brake buffer process is divided into two parts of uniform deceleration motion stage and uniform speed motion stage, after the mechanical arm reaches the brake position, the control valve ports on the oil inlet and return oil paths are quickly closed. If the initial brake speed is assumed to be v x (m / s), the uniform deceleration process time is t (s), the uniform speed motion process length is d (mm), the brake buffer length x (mm) is:

[0100] (1)

[0101] If the capturing stroke of the mechanical arm is L , the displacement of the brake buffer starting point A is s x , the relationship between them is:

[0102] (2)

[0103] The displacement of the buffer starting point A is s x :

[0104] (3)

[0105] Formula (3) describes the relationship between the initial brake speed v x and the displacement of the buffer starting point s x . It can be seen from the formula that if the time parameter t and the uniform speed motion length d are known, the displacement of the buffer starting point As x mainly by capture stroke L and braking initial velocity v x determination, namely, the buffer starting position changes with the capture stroke L and braking initial velocity v x .

[0106] The present application will brake initial velocity v x and the relationship between the buffer starting displacement s x in the (speed-displacement) coordinate system corresponding to the straight line is called the brake control line, its general expression is: v - s

[0107] (4)

[0108] According to the physical meaning of the buffer starting point A, the buffer starting point A represents the intersection of the brake control line and the mechanical arm v - s characteristic curve, its coordinates are ( s x , v x ). It should be noted that the characteristic curve here refers to the speed-displacement relationship curve of the mechanical arm under uniform deceleration braking mode. Under the same capture working condition, the mechanical arm v - s characteristics are deterministic, when the parameters v and s are known, then the position of the buffer starting point A is mainly determined by the capture stroke t , which shows that the initial velocity d x and the buffer length of the brake buffer are determined by the capture stroke L . Further, it can be understood that the buffer length and the capture stroke exist in a matching relationship, so as to ensure that different capture strokes have appropriate buffer lengths. v x L

[0109] The speed control principle of the brake buffer process under long, medium and short strokes of the present application and the mechanical arm capture motion speed curve under long, medium and short strokes are introduced below.

[0110] When the buffer starting point A is located in the Figure 5 v - s ​​​​​During the high-speed operation phase in the characteristic curve, the braking process is a long-stroke braking buffer. The speed control principle of the long-stroke braking buffer process is as follows: Figure 6 As shown, the velocity curve of the robotic arm capturing motion under long stroke is as follows: Figure 7 As shown.

[0111] Buffer start point during high-speed motion phase s x > s 2, such as Figure 6 As shown, the capture stroke corresponding to this situation is called the long stroke. The robotic arm moves from A ( s x , v x (Start braking and buffering, as shown by the deceleration buffer line in the figure. Set the deceleration buffer line and...) v The intersection point of the velocity lines at 1 m / s is B, and its coordinates are ( s B , v 1) Point B is the end point of the uniform deceleration braking buffer phase, and then the robotic arm maintains its position. v Continuing to move at 1 m / s to the end of the stroke, a complete speed control curve for a long stroke can be obtained, such as... Figure 7 As shown.

[0112] When the buffer start point A is located Figure 5 of v - s During the acceleration phase of the characteristic curve, the braking process is a braking buffer at mid-stroke. The speed control principle during the braking buffer process at mid-stroke is as follows: Figure 8 As shown, the velocity curve of the robotic arm capturing motion during the mid-stroke is as follows: Figure 9 As shown.

[0113] Buffer start point during accelerated operation phase s 1< s x < s 2, such as Figure 8 As shown, the capture stroke corresponding to this situation is called the mid-stroke, and the complete speed control curve under the mid-stroke is obtained as follows. Figure 9 As shown. By Figure 8 It can be seen that the buffer starting point A ( s x , v x This occurs during the acceleration phase of the robotic arm. Therefore, braking and buffering in this situation often begin before the robotic arm reaches its maximum speed, as shown in the speed curve. Figure 9 As shown. What's somewhat special is that when intersection A ( s x , v xWhen the point is at the beginning of the acceleration phase, intersection point A is also at that point. v At a speed of 1 m / s, according to the control principle, the robotic arm does not need to brake or buffer; instead, it directly maintains its speed. v 1 m / s is sufficient. This is a special case because it eliminates the uniform deceleration stage.

[0114] When the buffer start point A is located Figure 5 of v - s During the initial stage of the characteristic curve, the braking process is a short-stroke braking buffer. The speed control principle of the short-stroke braking buffer process is as follows: Figure 10 As shown, the speed curve of the robotic arm capturing motion under short stroke is as follows: Figure 11 As shown.

[0115] Buffer start point during the initial stage s x < s 1, meaning the velocity of the buffer starting point A is always at v Below the 1 m / s speed control line, the corresponding stroke is called short stroke, such as... Figure 10 As shown. According to the braking and buffering control concept of this invention, the speed at point A is less than... v At 1 m / s, the robotic arm obviously does not need to brake or decelerate; instead, it accelerates directly to [the desired speed]. v After reaching 1 m / s, maintain a constant speed. The corresponding velocity control curve in this case is as follows: Figure 11 As shown. If the stroke is smaller, the following will occur: the robotic arm will not accelerate to... v The robotic arm will be directly braked once it has reached the end of its travel distance before it reaches 1 m / s.

[0116] The braking buffer control logic of this invention is as follows: Figure 12 As shown. Before the capture motion starts, the system determines whether the current stroke is a short stroke, medium stroke, or long stroke based on the capture stroke of the robotic arm. If it is a short stroke ( L ≤ L min If the stroke is short, the robotic arm will be controlled according to the speed control method described above; if the stroke is medium or long ( L > L min If the braking speed is reduced to the initial braking speed, then uniform deceleration braking buffering is performed according to the above method. Obviously, the buffer length of the robotic arm braking control method proposed in this invention varies according to the capture stroke, and has the characteristic of variable length. It realizes the flexible configuration of the braking buffer length under different capture strokes, hence it is called the braking speed control method with variable buffer length. Figure 13 , Figure 14 , Figure 15 , Figure 16 They representFigure 12 The diagram below illustrates the buffer braking control for four operating conditions. The specific buffer braking control schemes for each operating condition will be described below:

[0117] Figure 13 This diagram illustrates the low-speed, short-stroke buffer braking control of the present invention. Figure 12 The first working condition is shown. Figure 11 The velocity curve of the robotic arm during short-stroke capture motion shows that the maximum speed of the robotic arm during short-distance capture stroke will not exceed [a certain value]. v At a speed of 1 m / s, braking can meet the current system's braking displacement control accuracy and stability requirements, which are already largely satisfied with the system error. Therefore, the robotic arm no longer needs to brake or decelerate; instead, it can directly accelerate to [the desired speed]. v Once the speed reaches 1 m / s, the robot can maintain a constant speed. The robot's capture process consists of two stages: 1) the robot's start-up and acceleration stage, and 2) the constant speed buffer stage.

[0118] Figure 14 This diagram illustrates the high-speed, long-stroke buffer braking control of the present invention. Figure 12 The second working condition is shown. Figure 7 The velocity curve of the robotic arm during long-stroke capture motion shows that the maximum speed of the robotic arm during long-distance capture stroke will exceed [a certain value]. v 1 m / s, and will proceed Figure 5 During the high-speed operation phase shown, uniform deceleration and buffer braking are required to reduce the speed to [the required level]. v 1 m / s is used to meet the current system error requirements. The robotic arm capture process consists of three stages: 1) robotic arm start-up, acceleration, and high-speed operation; 2) uniform deceleration and buffer braking stage; and 3) uniform speed operation buffer stage. Due to the high speed of the robotic arm during the high-speed operation stage, in order to ensure that the hydraulic system impact is small during the deceleration and braking process, the uniform deceleration buffer time is set to be the longest in working conditions two, three, and four.

[0119] Figure 15 This diagram illustrates the medium-speed, mid-stroke buffer braking control of the present invention. Figure 12 The third working condition is shown. Figure 9 The velocity curve of the robotic arm during mid-stroke capture motion shows that the maximum speed of the robotic arm during mid-range capture stroke will exceed [a certain value]. v 1 m / s, and will proceed Figure 5 The acceleration phase shown requires uniform deceleration and buffer braking to reduce the speed to [a certain value]. v1 m / s is used to meet the current system error requirements. The robotic arm capture process consists of three stages: 1) robotic arm start-up and acceleration stage, 2) uniform deceleration and buffer braking stage, and 3) uniform speed operation and buffer stage. Since the maximum speed of the robotic arm in the medium-speed operation stage is lower than that in the high-speed long stroke stage but higher than that in the low-speed medium stroke stage, the set uniform deceleration and buffer time accounts for a middle proportion in working conditions two, three, and four.

[0120] Figure 16 This diagram illustrates the low-speed, mid-stroke buffer braking control of the present invention. Figure 12 The fourth operating condition is shown. Figure 9 The velocity curve of the robotic arm during mid-stroke capture motion shows that the maximum speed of the robotic arm during mid-range capture stroke will exceed [a certain value]. v 1 m / s, and will proceed Figure 5 The acceleration phase shown requires uniform deceleration and buffer braking to reduce the speed to [a certain value]. v 1 m / s is used to meet the current system error requirements. The robotic arm capture process consists of three stages: 1) robotic arm start-up and acceleration stage; 2) uniform deceleration and buffer braking stage; and 3) uniform speed buffer stage. Since the maximum speed of the robotic arm is lowest during the medium-speed capture phase, in addition to ensuring minimal impact on the hydraulic system during deceleration and braking, it is also necessary to ensure capture efficiency. Therefore, the uniform deceleration buffer time is set to be the shortest among conditions two, three, and four.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A shipboard helicopter quick-hold device capture method, characterized by, It comprises the following steps: S1, detecting the capture stroke according to the displacement sensor, and performing S2; S2, stroke determination is performed on the capture stroke, when the capture stroke is a short stroke, S3 is performed; when the capture stroke is a medium stroke or a long stroke, S4 is performed; S3, the control valve port on the mechanical arm inlet and return oil circuit is opened at a constant speed, when the mechanical arm accelerates to the rated speed, the working condition one strategy is performed; S4, the buffer time and the constant speed motion buffer length of each stage are set according to the medium stroke or the long stroke, and S5 is performed; S5, the buffer start displacement of each stage corresponding speed is obtained according to the buffer time and the constant speed motion buffer length of each stage, and S6 is performed; S6, the real-time displacement and the real-time speed of the mechanical arm are monitored through the displacement sensor and the speed sensor, and S7 is performed; S61, the high-speed buffer point of the real-time displacement of the mechanical arm is determined, when the mechanical arm is not at the high-speed buffer point, the parameter monitoring is returned to S6; when the mechanical arm is at the high-speed buffer point, S62 is performed; S62, the high-speed interval of the real-time speed of the mechanical arm is determined, when the mechanical arm is in the high-speed interval, the working condition two strategy is performed; when the mechanical arm is not in the high-speed interval, S63 is performed; S63, the medium-speed buffer point of the real-time displacement of the mechanical arm is determined, when the mechanical arm is not at the medium-speed buffer point, it is returned to S6; when the mechanical arm is at the medium-speed buffer point, S64 is performed; S64, the medium-speed interval of the real-time speed of the mechanical arm is determined, when the mechanical arm is in the medium-speed interval, the working condition three strategy is performed; when the mechanical arm is not in the medium-speed interval, S65 is performed; S65, the low-speed buffer point of the real-time displacement of the mechanical arm is determined, when the mechanical arm is not at the low-speed buffer point, it is returned to S6; when the mechanical arm is at the low-speed buffer point, the working condition four strategy is performed; The mechanical arm capture process of the working condition one strategy comprises a mechanical arm starting and accelerating running stage and a constant speed running buffer stage; The mechanical arm capture process of the working condition two strategy comprises a mechanical arm starting, accelerating running, high-speed running stage, uniform deceleration buffer braking stage and uniform speed running buffer stage; The mechanical arm capture process of the working condition three strategy comprises a mechanical arm starting, accelerating running stage, uniform deceleration buffer braking stage and uniform speed running buffer stage; The mechanical arm capture process of the working condition four strategy comprises a mechanical arm starting, accelerating running stage, uniform deceleration buffer braking stage and uniform speed running buffer stage; S7, based on the buffer start displacement of each stage and the corresponding speed of each stage, the buffer point of the real-time displacement of the mechanical arm is determined, the buffer speed interval of the real-time speed of the mechanical arm is determined, and the corresponding braking strategy is performed according to the buffer point determination and the buffer interval determination.

2. The shipboard helicopter quick-hold device capture method of claim 1, wherein, The working condition one strategy is as follows: the mechanical arm runs at a rated speed, and after the mechanical arm reaches the brake position, the control valve port on the inlet and return oil circuit is closed for braking; The working condition two strategy is as follows: the mechanical arm performs uniform deceleration buffer braking under the uniform deceleration buffer time of the working condition two, and the speed is sequentially reduced from the high-speed interval to the medium-speed interval, the low-speed interval, and finally to the rated speed to meet the current system error requirement; The strategy of the third working condition is as follows: the mechanical arm performs uniform deceleration buffer braking under the uniform deceleration buffer time of the third working condition, reduces the speed from the medium speed interval to the low speed interval, and finally reduces to the rated speed to meet the current system error requirement; The strategy of the fourth working condition is as follows: the mechanical arm performs uniform deceleration buffer braking under the uniform deceleration buffer time of the fourth working condition, reduces the speed from the low speed interval to the rated speed to meet the current system error requirement; The uniform deceleration buffer time of the second working condition > the uniform deceleration buffer time of the third working condition > the uniform deceleration buffer time of the fourth working condition.

3. The shipboard helicopter quick-hold device capture method of claim 1, wherein, When the buffer start point is in the v-s short stroke when the buffer start point is in the v-s medium stroke when the buffer start point is in the v-s long stroke when the buffer start point is in the 4. The shipboard helicopter quick-hold device capture method of claim 1, wherein, S4 specifically comprises the following steps: According to the medium stroke or long stroke, the buffer time and the uniform motion buffer length of each stage are set; Establishing a hydraulic catapult system v-s Characteristic curve coordinate system, braking initial speed v x Relationship with the buffer starting point displacement s x The straight line corresponding to the relationship in the coordinate system is the brake control line, and the brake control line expression is as follows: (4) The intersection of the brake control line and the mechanical arm v-s characteristic curve is the buffer starting point A, and the coordinates of the buffer starting point A are (x0, y0) s x , v x );The v - s Characteristic curve is the speed-displacement relationship curve of the mechanical arm in the uniform deceleration braking mode, and since the buffer starting point A has a v x Known deceleration acceleration, the buffer time required for the current working condition can be solved by the above formula t , L The capture stroke of the mechanical arm; wherein the uniform motion buffer length d is set to 0.1 m.

5. The shipboard helicopter quick-hold device capture method of claim 1, wherein, S5 specifically comprises the following steps: According to the buffer time and the uniform motion buffer length of each stage, the starting displacement of each stage corresponding to the speed of each stage is obtained; Then the length of the braking buffer is obtained by integrating the velocity-displacement curve over time x The mechanical arm capture stroke is as follows L The initial speed of the brake is v x The time taken for uniform deceleration is t The length of uniform motion is d The length of the braking buffer is x ​ (1) The mechanical arm capture stroke is L The displacement of the brake buffer start point A is s x Then: (2) Buffering of the displacement of the start point A s x is: (3)。 6. The shipboard helicopter quick-hold device capture method of claim 1, wherein, The high-speed buffer point, medium-speed buffer point, and low-speed buffer point are preset values; the speed of the high-speed buffer point... v The range is 1.8 m / s < v <2.5m / s; the speed of the intermediate speed buffer point v The range is 1.1 m / s < v <1.8m / s; the speed of the low-speed buffer point v The range is 0.4 m / s < v <1.1m / s, the speed of the robotic arm in working condition one v The range is v＜ 0.4 m / s; at this speed, the braking accuracy error of the robotic arm is within the acceptable range of the process requirements, and there is no need to set a speed buffer point.

7. A storage medium, characterized by The storage medium includes a stored program, wherein when the program is executed, the ship-borne helicopter quick clamping device capturing method of any one of claims 1 to 6 is executed.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the ship-borne helicopter quick clamping device capturing method of any one of claims 1 to 6 by running the computer program.

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