Shipborne electrically-driven helicopter rapid capturing method and fixed transverse moving device control system

Abstract

The invention belongs to the technical field of safety guarantee of offshore operation helicopters, and provides a shipborne electrically-driven helicopter rapid capturing method and a fixed transverse moving device control system.The method comprises the steps that a capturing instruction is given, and the position of a helicopter probe rod is determined; dividing a capturing interval, and planning a capturing speed curve of the mechanical claw; constructing a fuzzy adaptive speed trajectory tracking controller, and capturing a helicopter feeler lever; the control system comprises a power supply unit, an embedded main control unit, a motor driving unit, a hydraulic system unit and a sensor detection unit. According to the device, flexible capturing of the offshore operation helicopters can be achieved, the purposes of saving energy and reducing impact force are achieved, the rapid fixing and transverse moving device can be suitable for helicopters of different tonnages, the application range is expanded, and the device has high practical application value.

Description

Technical Field

[0001] This invention belongs to the field of safety assurance technology for marine helicopters, and in particular, it relates to a rapid acquisition method and a fixed lateral movement device control system for shipborne electric-driven helicopters. Background Technology

[0002] Maritime helicopters often perform search and rescue, reconnaissance, and anti-submarine missions in adverse sea conditions. However, the small deck area of ​​ships and their constant rolling motion pose a significant threat to the safety of helicopter take-off and landing. Helicopter recovery and launch systems equipped on ships can ensure the safety of helicopter take-off and landing.

[0003] The main working unit in a helicopter recovery and launch system is a rapid fixation and lateral movement device. This device is the control terminal for securing and transferring the helicopter and plays a crucial role in the entire system. However, it suffers from problems such as low work efficiency and unadjustable straightening speed. To address this, patent [CN202011141255.1] proposes an electrically driven rapid fixation and lateral movement system, which uses dual servo motors to replace the original hydraulic drive, reducing operating noise and improving energy utilization. However, its capture method is the same as that of the hydraulic rapid fixation and lateral movement device, still exhibiting the problem of high capture impact force, making it unsuitable for helicopters of different tonnages and limiting its applicability. Therefore, to solve the problem of high impact force when capturing helicopter probes using existing electrically driven rapid fixation and lateral movement devices, it is urgent and necessary to seek a shipborne electrically driven rapid helicopter capture method and a fixation and lateral movement device control system that allows for free adjustment of capture speed and trajectory, reduction of capture impact force, and adaptability to helicopters of different tonnages. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by proposing a rapid acquisition method and a fixed lateral movement device control system for shipborne electrically driven helicopters. The method includes issuing acquisition commands and determining the helicopter probe position; dividing the acquisition interval and planning the acquisition speed curve of the mechanical claw; constructing a fuzzy adaptive speed trajectory tracking controller to acquire the helicopter probe; reporting the acquisition results to the control system; and providing an electrically driven fixed lateral movement device control system, which includes a power supply unit, an embedded main control unit, a motor drive unit, a hydraulic system unit, and a sensor detection unit. The proposed method enables flexible acquisition of helicopters operating at sea, achieving energy saving and reduced impact. It also allows the rapid fixed lateral movement device to be applied to helicopters of different tonnages, expanding its applicability and demonstrating strong practical application value.

[0005] This invention provides a method for rapid capture of a shipborne electrically driven helicopter, comprising the following steps: S1. Issue capture command and determine helicopter probe position: The control system receives capture command from the upper system. After the helicopter probe is fully compressed by the buffer plate of the fast-fixing transverse device, the laser displacement sensor detects the position of the helicopter probe relative to the mechanical claw in the coordinate system of the fast-fixing transverse device. S2. Divide the capture zone and plan the capture speed curve of the mechanical claw: Divide the capture area into three capture zones, determine the capture zone where the helicopter probe is located, and dynamically plan the capture speed curve of the mechanical claw. S21. Divide the capture area into three capture intervals: near-end capture interval L1, middle capture interval L2, and far-end capture interval L3, and use trigonometric functions to describe the capture velocity trajectory. S22. Determine the capture range of the helicopter probe based on its position. S23. Based on the capture range of the helicopter probe, dynamically plan the capture speed curve of the mechanical claw; S3. Construct a fuzzy adaptive speed trajectory tracking controller to capture the helicopter probe: The embedded main control unit drives the hydraulic system unit to open the clutch and brake, constructs a fuzzy adaptive speed trajectory tracking controller based on chain model compensation, outputs control signals to drive the high-speed servo motor to run, and drives the mechanical claw to move through the transmission system to capture the helicopter probe; S4. Report the capture results to the control system: After the helicopter probe completes the capture, the clutch and brake are closed, and the embedded main control unit reports the capture results to the upper control system.

[0006] Furthermore, the velocity trajectory captured in step S21 is described as follows: (1); in, This represents the desired motion velocity trajectory of the robotic gripper. Indicates acceleration time; Indicates the time of uniform motion; Indicates the deceleration time; This represents the maximum expected uniform velocity. This represents the minimum expected uniform motion speed.

[0007] Preferably, in step S3, the fuzzy adaptive velocity trajectory tracking controller utilizes the fuzzy control principle to combine the input error e and the error change rate e c Fuzzy processing is performed, a fuzzy rule table is defined, and correction signals for the proportional control coefficient, integral control coefficient, and derivative control coefficient are obtained. These correction signals are then input to the original ordinary PID controller to obtain the adaptively tuned PID parameters. (6); in, These represent the proportional control coefficient, integral control coefficient, and derivative control coefficient, respectively. Let represent the initial values ​​for the proportional control system, integral control system, and derivative control system, respectively. These represent the adjustment amounts of the proportional control coefficient, integral control coefficient, and derivative control coefficient of the fuzzy adaptive velocity trajectory tracking controller, respectively.

[0008] Preferably, in step S3, the chain model utilizes power bond graph theory and, based on energy transfer relationships, obtains the combined model state equations of the chain in the electrically driven rapid fixed transverse movement device during operation: (5); Where, q i p represents the generalized displacement of the i-th link; j Let represent the generalized momentum of the j-th inertial element; This represents the average mass of two adjacent chain segments; This represents the i-th capacitive element; Indicates a kinetic resistive element; Represents a potential energy resistive element; Let represent the generalized velocity of the i-th link and the generalized momentum differential of the j-th inertial element, respectively.

[0009] Preferably, step S23 specifically includes the following sub-steps: S231. When the helicopter probe is in the near-end acquisition zone, execute step S232; when the probe is in the middle acquisition zone, execute step S233; when the probe is in the far-end acquisition zone, execute step S234. S232, Without the tedious process of acceleration and deceleration, the acceleration time of the mechanical gripper is taken as... The maximum uniform velocity is taken as the minimum desired uniform velocity. Capture; S233, The maximum uniform motion speed of the mechanical gripper is taken as the maximum desired uniform motion speed. Acceleration time Deceleration time The minimum capture speed is taken as the minimum desired uniform motion speed. Capture; S234. The maximum uniform motion speed of the mechanical gripper is taken as the maximum desired uniform motion speed. Acceleration time Deceleration time The minimum capture speed is taken as the minimum desired uniform motion speed. To capture.

[0010] Preferably, in steps S233 and S234, the position of the helicopter probe S is determined.x Obtain the uniform motion time of the mechanical gripper : (2); in, Let these represent the distance traveled during acceleration and the distance traveled during deceleration, respectively, and calculate them as follows: (3); (4).

[0011] In another aspect, the present invention provides a fixed lateral movement device control system utilizing the aforementioned shipborne electric-driven helicopter rapid capture method, comprising a power supply unit, an embedded main control unit, a motor drive unit, a hydraulic system unit, and a sensor detection unit. The power supply unit includes a servo motor power supply module, a first AC / DC power supply module, and a second AC / DC power supply module, which are respectively used to power the motor drive unit, the embedded main control unit, and the hydraulic system unit. The sensor detection unit includes a digital sensor group and an analog sensor group, where the digital sensor group is used for digital signal detection and the analog sensor group is used for analog signal detection. The sensor detection unit transmits the digital and analog signals to the embedded main control unit.

[0012] Preferably, the embedded main control unit includes a power supply circuit module, a driver control circuit module, a communication circuit module, an input detection circuit module, and an output drive circuit module; the motor drive unit includes a first servo driver and a second servo driver, the first servo driver being used to drive a high-speed servo motor for capturing and releasing motion, and the second servo driver being used to drive a low-speed servo motor for straightening motion; the hydraulic system unit includes a mechanical claw drive module, a center lock drive module, an emergency lock drive module, a clutch drive module, a brake drive module, and a micro hydraulic pump station.

[0013] Preferably, the switching sensor group includes a limit switch group and a photoelectric sensor, and the analog sensor group includes a magnetostrictive displacement sensor and a laser displacement sensor; the limit switch group includes a mechanical claw status detection limit switch, a center lock status detection limit switch, an emergency lock status detection limit switch, a port side buffer plate compression status detection limit switch, a starboard side buffer plate compression status detection limit switch, a port side extreme position detection limit switch, a starboard side extreme position detection limit switch, and a chain breakage detection limit switch; the photoelectric sensor includes a port side probe proximity detection photoelectric sensor and a starboard side probe proximity detection photoelectric sensor.

[0014] Compared with the prior art, the technical effects of the present invention are as follows: 1. The rapid capture method for shipborne electric-driven helicopters proposed in this invention designs a flexible capture control scheme, which plans different capture speed trajectories according to the probe position; the capture speed trajectory shape can be freely adjusted under the capture time constraint, and it can be adapted to helicopters of different tonnages, thus improving the applicability of the proposed helicopter capture method. It has important practical application value in the fields of shipbuilding and military industry, and is especially significant for the safety assurance of helicopters operating at sea.

[0015] 2. The shipborne electric-driven helicopter rapid fixation and traverse device control system proposed in this invention is based on the existing electric-driven rapid fixation and traverse device mechanical body. The control system is designed, especially with the addition of a laser displacement sensor to measure the position of the helicopter probe; a speed tracking controller based on chain model compensation is designed, which improves the speed control accuracy, effectively reduces the impact force on the probe when mechanically capturing the helicopter, and saves energy. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0017] Figure 1 This is a flowchart of the rapid capture method for shipborne electric-driven helicopters according to the present invention; Figure 2 This is a schematic diagram of the capture area division of the present invention; Figure 3 This is a mechanical claw acquisition speed curve of a helicopter in a specific embodiment of the present invention, where a is the mechanical claw acquisition speed curve when the probe is in the far-end acquisition range (middle acquisition range); b is the mechanical claw acquisition speed curve when the probe is in the near-end acquisition range; Figure 4 This is a flowchart of the fuzzy adaptive velocity trajectory tracking controller based on chain model compensation of the present invention; Figure 5 This is a schematic diagram of the chain model of the present invention; Figure 6 This is a mechanical gripper capture speed planning curve in a specific embodiment of the present invention; Figure 7 This is a mechanical gripper capture speed error curve in a specific embodiment of the present invention; Figure 8 This is a capture impact force curve of the helicopter probe during the capture process in a specific embodiment of the present invention; Figure 9 This is a block diagram of the control system of the shipborne electric-driven helicopter rapid fixing and lateral movement device of the present invention; Figure 10This is a schematic diagram of the layout of the sensor and drive components of the shipborne electric-driven helicopter rapid fixed lateral movement device of the present invention. Figure 11 This is a system diagram of the hydraulic drive component of the shipborne electric-driven helicopter rapid fixing and lateral movement device of the present invention. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other. The present application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] Figure 1 The present invention provides a rapid acquisition method for shipborne electrically driven helicopters, comprising the following steps: S1. Issue capture command and determine helicopter probe position: After the control system receives the capture command from the upper system, the helicopter probe is fully compressed into the buffer plate of the rapid fixed lateral movement device. The laser displacement sensor of the analog sensor group in the sensor detection unit detects the position of the helicopter probe relative to the mechanical claw in the coordinate system of the rapid fixed lateral movement device.

[0020] A key innovation of this invention is the addition of a laser displacement sensor compared to existing systems. The laser displacement sensor measures the relative distance between itself and the helicopter probe using the principle of reflection, and then, combined with structural dimensional parameters, determines the relative position between the helicopter probe and the mechanical claw.

[0021] S2. Divide the capture area into three capture intervals and plan the capture speed curve of the mechanical claw: Divide the capture area into three capture intervals, determine the capture interval where the helicopter probe is located, and dynamically plan the capture speed curve of the mechanical claw.

[0022] The mechanical gripper's capture speed curve is planned as follows: it first starts from an initial velocity and then gently accelerates to a certain velocity v within a certain time. c It then runs at that constant speed, and when the mechanical claw approaches the helicopter probe, it decelerates to a speed of v. s After that, the mechanical gripper always moved at a speed of v. s The movement continues at a constant speed until the limit switch for detecting the mechanical gripper's status successfully detects that the gripper is closed, indicating that capture is complete and the movement stops.

[0023] S21, such as Figure 2 As shown, the capture area is divided into three capture intervals: the near-end capture interval L1, the middle capture interval L2, and the far-end capture interval L3. Trigonometric functions are used to describe the capture velocity trajectory. (1); in, This represents the desired motion velocity trajectory of the robotic gripper. Indicates acceleration time; Indicates the time of uniform motion; Indicates the deceleration time; This represents the maximum expected uniform velocity. This represents the minimum expected uniform motion speed.

[0024] S22. Determine the capture range of the helicopter probe based on its position.

[0025] S23. Based on the capture range of the helicopter probe, dynamically plan the capture speed curve of the mechanical claw.

[0026] S231. When the helicopter probe is in the near-end acquisition zone, execute step S232; when the probe is in the middle acquisition zone, execute step S233; when the probe is in the far-end acquisition zone, execute step S234.

[0027] S232, Without the tedious process of acceleration and deceleration, the acceleration time of the mechanical gripper is taken as... The maximum uniform velocity is taken as the minimum desired uniform velocity. To capture.

[0028] S233, The maximum uniform motion speed of the mechanical gripper is taken as the maximum desired uniform motion speed. Acceleration time Deceleration time The minimum capture speed is taken as the minimum desired uniform motion speed. To capture.

[0029] S234. The maximum uniform motion speed of the mechanical gripper is taken as the maximum desired uniform motion speed. Acceleration time Deceleration time The minimum capture speed is taken as the minimum desired uniform motion speed. To capture.

[0030] For steps S233 and S234, based on the position S of the helicopter probe... x Obtain the uniform motion time of the mechanical gripper : (2); in, Let these represent the distance traveled during acceleration and the distance traveled during deceleration, respectively, and calculate them as follows: (3).

[0031] (4).

[0032] In one specific embodiment, the capture region is divided into a near-end capture interval L1, with a range of 0 ≤ S x ≤ 600mm; intermediate capture interval L2, range 600 mm x ≤ 1200 mm; remote acquisition range L3, with a range of 1200 mm. x ≤1800 mm.

[0033] like Figure 3 As shown in Figure a, when the helicopter probe is at the farthest end of the far-end acquisition range L3, the maximum speed of the mechanical claw is taken as 2.4 m / s, the maximum speed of the ball screw is 3600 r / min, the acceleration time is 0.24 s, and the deceleration time is 0.18 s. The acceleration distance S is obtained according to formulas (3) and (4). a With deceleration distance S d The sum is 576 mm; the time of uniform motion of the mechanical gripper can be calculated according to formula (2). The maximum capture time, when added to the acceleration and deceleration times, is approximately 0.93 s.

[0034] like Figure 3 As shown in Figure a, the maximum expected uniform speed of the mechanical gripper is taken when the helicopter probe is at the farthest end of the intermediate capture interval L2. The minimum expected uniform velocity is 2 m / s. The maximum speed of the ball screw is 3000 r / min, with an acceleration time of 0.24 s and a deceleration time of 0.18 s. According to formulas (3) and (4), the sum of the acceleration distance and the deceleration distance is 492 mm. According to formula (2), the uniform motion time of the mechanical gripper can be calculated. The maximum capture time, when added to the acceleration and deceleration times, is approximately 0.77 s.

[0035] like Figure 3 As shown in Figure b, when the helicopter probe is at the farthest end of the near-end capture range L1, since the mechanical claw is close to the probe at this time, there is no need to go through the tedious process of acceleration and deceleration. The acceleration time is directly taken as 0.24 s and the maximum uniform speed is 0.8 m / s, which can meet the capture requirements. According to formula (3), the acceleration distance S can be obtained. a The time for the mechanical gripper to move at a constant speed can be calculated using formula (2). The maximum capture time, when added to the acceleration time, is approximately 0.87 s. ​​

[0036] S3. Construct a fuzzy adaptive speed trajectory tracking controller to capture the helicopter probe: The embedded main control unit drives the output circuit module to control the control solenoid valve of the hydraulic system unit to open the clutch and brake, and constructs a fuzzy adaptive speed trajectory tracking controller based on chain model compensation. The output control signal drives the high-speed servo motor to run, and drives the mechanical claw to move through the transmission system to capture the helicopter probe.

[0037] The constructed fuzzy adaptive velocity trajectory tracking controller based on chain model compensation is as follows: Figure 4 As shown, to ensure that the movement speed of the mechanical gripper can accurately track the capture speed curve planned in S2, the difference between the expected capture speed and the actual feedback speed is calculated and input into the fuzzy adaptive speed trajectory tracking controller. After calculation, the capture control signal is output to the servo driver to control the high-speed servo motor to run, and drive the mechanical gripper to move through the transmission system to capture the helicopter probe.

[0038] The fuzzy adaptive velocity trajectory tracking controller utilizes the fuzzy control principle to convert the input error e and the error change rate e c Fuzzy processing is performed, a fuzzy rule table is defined, and correction signals for the proportional control coefficient, integral control coefficient, and derivative control coefficient are obtained. These correction signals are then input to the original ordinary PID controller to obtain the adaptively tuned PID parameters. (6); in, These represent the proportional control coefficient, integral control coefficient, and derivative control coefficient, respectively. Let represent the initial values ​​for the proportional control system, integral control system, and derivative control system, respectively. These represent the adjustment amounts of the proportional control coefficient, integral control coefficient, and derivative control coefficient of the fuzzy adaptive velocity trajectory tracking controller, respectively.

[0039] Transfer function of fuzzy adaptive velocity trajectory tracking controller for: (7); in, Represents a state variable.

[0040] The constructed chain model is as follows Figure 5 As shown, to compensate for the deviation between the measured speed of the moving pulley and the speed of the mechanical claw, and to improve the speed control accuracy, the chain model utilizes power bond graph theory and, based on energy transfer relationships, obtains the combined model state equations of the chain of the electrically driven rapid fixed transverse movement device during operation: (5); Where, q ip represents the generalized displacement of the i-th link; j Let represent the generalized momentum of the j-th inertial element; This represents the average mass of two adjacent chain segments and has , These represent the i-th and (i+1)-th links, respectively; This represents the i-th capacitive element; Indicates a kinetic resistive element; Represents a potential energy resistive element; Let represent the generalized velocity of the i-th link and the generalized momentum differential of the j-th inertial element, respectively.

[0041] The transmission system contains two chains, one for mechanical capture and the other for release; each chain consists of multiple links connected in series.

[0042] S4. Report the capture results to the control system: After the helicopter probe has completed the capture, close the clutch and brake, and report the capture results to the upper control system.

[0043] In one specific embodiment, the helicopter probe device is installed at the extreme position of the remote acquisition range for acquisition testing. To verify the superiority of the present invention, the control effect of the fuzzy adaptive velocity trajectory tracking controller proposed in this invention is compared with that of the original ordinary PID controller.

[0044] The mechanical gripper capture speed curve is planned as follows: Figure 6 As shown, the maximum desired uniform motion speed of the robotic gripper is taken. The speed is 2.4 m / s, the acceleration time is 0.24 s, and the minimum expected uniform velocity is... The acceleration speed is 0.8 m / s, the deceleration time is 0.18 s, and the acceleration distance S is... a With deceleration distance S d The sum is 576 mm; the capture time is approximately 0.9 s, which meets the capture time requirement.

[0045] The mechanical gripper capture speed error curve is as follows: Figure 7 As shown in the figure, the maximum speed error during capture is reduced from approximately 64 mm / s to approximately 22 mm / s based on the fuzzy adaptive speed trajectory tracking controller. Furthermore, during the acceleration and deceleration phases of the robotic gripper, the speed overshoot of the fuzzy adaptive speed trajectory tracking controller is smaller compared to ordinary PID control, demonstrating significant advantages.

[0046] The capture impact force curve caused by the helicopter probe when capturing the helicopter is as follows: Figure 8 As shown in the figure, the maximum capture impact force is reduced to 4.869 kN, which is about 40% lower than the original capture method.

[0047] In another aspect, the present invention provides a fixed lateral movement device control system utilizing the aforementioned shipborne electric-driven helicopter rapid capture method, such as... Figure 9 As shown, it includes a power supply unit 9.1, an embedded main control unit 9.2, a motor drive unit 9.3, a hydraulic system unit 9.4, and a sensor detection unit 9.5.

[0048] The power supply unit 9.1 redistributes the 220V AC ship power input to the system through an AC / DC power converter to ensure independent power supply for each circuit module and avoid mutual interference. The power supply unit 9.1 includes a servo motor power supply module, a first AC / DC power supply module 1 and a second AC / DC power supply module 2. The servo motor power supply module is used to power the motor drive unit 9.3, the first AC / DC power supply module 1 is used to power the embedded main control unit 9.2, and the second AC / DC power supply module 2 is used to power the hydraulic system unit 9.4.

[0049] The embedded main control unit 9.2 includes a power supply circuit module, a driver control circuit module, a communication circuit module, an input detection circuit module, and an output drive circuit module. The power supply circuit module is used for the microcontroller and its peripheral debugging circuits; the driver control circuit module is used to control the servo drive; the communication circuit module is used for CAN communication with the upper-level system; the input detection circuit module is used to acquire digital and analog signals; and the output drive circuit module is used to drive the hydraulic system unit.

[0050] The motor drive unit 9.3 includes a first servo driver 1 and a second servo driver 2. The first servo driver 1 is used to drive a high-speed servo motor to capture and release motion, and the second servo driver 2 is used to drive a low-speed servo motor to straighten motion.

[0051] like Figure 10 As shown, in one specific embodiment, 10.1 is a speed reducer; 10.2 is a clutch; 10.3 is a brake; 10.4 is a magnetostrictive displacement sensor; 10.5 is a high-speed servo motor; 10.6 is a limit switch for detecting the compression state of the port side buffer plate; 10.7 is a photoelectric sensor for detecting the proximity of the port side probe; 10.8 is a limit switch for detecting the state of the mechanical claw; 10.9 is a transmission chain; 10.10 is a ball screw; 10.11 is a laser displacement sensor; 10.12 is a photoelectric sensor for detecting the proximity of the starboard side probe; and 10.13 is a limit switch for detecting the compression state of the starboard side buffer plate.

[0052] The transmission system consists of a high-speed servo motor 10.5 driving a ball screw 10.10, a movable pulley mounted on the ball screw 10.10, and a transmission system consisting of a chain and fixed pulleys on both sides to drive the mechanical claw.

[0053] The sensor detection unit 9.5 includes a digital sensor group and an analog sensor group. The digital sensor group includes a limit switch group and photoelectric sensors. The limit switch group includes a mechanical claw status detection limit switch 10.8, a center lock status detection limit switch, an emergency lock status detection limit switch, a port side buffer plate compression status detection limit switch 10.6, a starboard side buffer plate compression status detection limit switch 10.13, a port side extreme position detection limit switch, a starboard side extreme position detection limit switch, and a chain breakage detection limit switch. The photoelectric sensors include a port side probe proximity detection photoelectric sensor 10.7 and a starboard side probe proximity detection photoelectric sensor 10.12. The analog sensor group includes a magnetostrictive displacement sensor 10.4 and a laser displacement sensor 10.11. The digital sensor group is used for digital signal detection, and the analog sensor group is used for analog signal detection. The sensor detection unit transmits the digital and analog signals to the embedded main control unit via the input detection circuit module.

[0054] like Figure 11 As shown, hydraulic system unit 9.4 includes a micro hydraulic pump station, a neutral lock drive module, an emergency lock drive module, a mechanical claw drive module, a clutch drive module, and a brake drive module.

[0055] A key innovation of this invention is that it uses a laser displacement sensor to obtain the relative position of the helicopter probe and the mechanical claw, and then plans the capture speed trajectory of the mechanical claw according to the capture range (near-end capture range L1, middle capture range L2, and far-end capture range L3). This is a dynamic planning method that provides a core prerequisite for achieving rapid helicopter capture.

[0056] Another important innovation of this invention is that, considering that the displacement of the mechanical gripper cannot be directly measured, a fuzzy adaptive velocity trajectory tracking controller based on chain model compensation is constructed. The chain model is used to track and compensate the mechanical gripper's capture velocity trajectory, providing accuracy assurance for achieving rapid tracking and capture of helicopters.

[0057] This invention proposes a rapid capture method for shipborne electrically driven helicopters, designing a flexible capture control scheme that plans different capture speed trajectories based on the probe position. Under capture time constraints, the capture speed trajectory shape can be freely adjusted, adapting to helicopters of different tonnages and expanding the applicability of the proposed helicopter capture method. It has significant practical application value in shipbuilding, military, and other fields, especially for ensuring the safety of helicopters operating at sea. The proposed fixed traverse device control system is based on the existing electrically driven rapid fixed traverse device mechanical body, with a newly added laser displacement sensor to measure the helicopter probe position. A speed tracking controller based on chain model compensation is designed, improving speed control accuracy, effectively reducing the impact force on the probe during mechanical helicopter capture, and saving energy.

[0058] Finally, it should be noted that the above embodiments are for illustration only and not for limiting the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for rapid acquisition by a shipborne electrically driven helicopter, characterized in that, It includes the following steps: S1. Issue capture command and determine helicopter probe position: The control system receives capture command from the upper system. After the helicopter probe is fully compressed by the buffer plate of the fast-fixing transverse device, the laser displacement sensor detects the position of the helicopter probe relative to the mechanical claw in the coordinate system of the fast-fixing transverse device. S2. Divide the capture zone and plan the capture speed curve of the mechanical claw: Divide the capture area into three capture zones, determine the capture zone where the helicopter probe is located, and dynamically plan the capture speed curve of the mechanical claw. S21. Divide the capture area into three capture intervals: near-end capture interval L1, middle capture interval L2, and far-end capture interval L3, and use trigonometric functions to describe the capture velocity trajectory. S22. Determine the capture range of the helicopter probe based on its position. S23. Based on the capture range of the helicopter probe, dynamically plan the capture speed curve of the mechanical claw; S3. Construct a fuzzy adaptive speed trajectory tracking controller to capture the helicopter probe: The embedded main control unit drives the hydraulic system unit to open the clutch and brake, constructs a fuzzy adaptive speed trajectory tracking controller based on chain model compensation, outputs control signals to drive the high-speed servo motor to run, and drives the mechanical claw to move through the transmission system to capture the helicopter probe; S4. Report the capture result to the control system: After the helicopter probe completes the capture, the clutch and brake are closed, and the embedded main control unit reports the capture result to the upper control system.

2. The rapid acquisition method for shipborne electrically driven helicopters according to claim 1, characterized in that, The velocity trajectory captured in step S21 is described as follows: （1）； in, This represents the desired motion trajectory of the robotic gripper. Indicates acceleration time; Indicates the time of uniform motion; Indicates the deceleration time; This represents the maximum expected uniform velocity. This represents the minimum expected uniform motion speed.

3. The rapid acquisition method for shipborne electrically driven helicopters according to claim 1, characterized in that, In step S3, the fuzzy adaptive velocity trajectory tracking controller utilizes the fuzzy control principle to convert the input error e and the error change rate e into a single variable. c Fuzzy processing is performed, a fuzzy rule table is defined, and correction signals for the proportional control coefficient, integral control coefficient, and derivative control coefficient are obtained. These correction signals are then input to the original ordinary PID controller to obtain the adaptively tuned PID parameters. （6）； in, These represent the proportional control coefficient, integral control coefficient, and derivative control coefficient, respectively. Let represent the initial values ​​for the proportional control system, integral control system, and derivative control system, respectively. These represent the adjustment amounts of the proportional control coefficient, integral control coefficient, and derivative control coefficient of the fuzzy adaptive velocity trajectory tracking controller, respectively.

4. The rapid acquisition method for shipborne electrically driven helicopters according to claim 1, characterized in that, In step S3, the chain model utilizes power bond graph theory and, based on energy transfer relationships, derives the combined model state equations of the chain in the electrically driven rapid fixed transverse movement device during operation: （5）； Where, q i p represents the generalized displacement of the i-th link; j Let represent the generalized momentum of the j-th inertial element; This represents the average mass of two adjacent chain segments; This represents the i-th capacitive element; Indicates a kinetic resistive element; Represents a potential energy resistive element; Let represent the generalized velocity of the i-th link and the generalized momentum differential of the j-th inertial element, respectively.

5. The rapid acquisition method for shipborne electrically driven helicopters according to claim 1, characterized in that, Step S23 specifically includes the following sub-steps: S231. When the helicopter probe is in the near-end acquisition zone, execute step S232; when the probe is in the middle acquisition zone, execute step S233; when the probe is in the far-end acquisition zone, execute step S234. S232, Without the tedious process of acceleration and deceleration, the acceleration time of the mechanical gripper is taken as... The maximum uniform velocity is taken as the minimum desired uniform velocity. Capture; S233, The maximum uniform motion speed of the mechanical gripper is taken as the maximum desired uniform motion speed. Acceleration time Deceleration time The minimum capture speed is taken as the minimum desired uniform motion speed. Capture; S234. The maximum uniform motion speed of the mechanical gripper is taken as the maximum desired uniform motion speed. Acceleration time Deceleration time The minimum capture speed is taken as the minimum desired uniform motion speed. To capture.

6. The rapid capture method for shipborne electrically driven helicopters according to claim 5, characterized in that, In steps S233 and S234, the position of the helicopter probe S is determined. x Obtain the uniform motion time of the mechanical gripper : （2）； in, Let these represent the distance traveled during acceleration and the distance traveled during deceleration, respectively, and calculate them as follows: （3）； （4）。 7. A fixed lateral movement device control system for a rapid acquisition method for shipborne electrically driven helicopters according to any one of claims 1-6, characterized in that, It includes a power supply unit, an embedded main control unit, a motor drive unit, a hydraulic system unit, and a sensor detection unit. The power supply unit includes a servo motor power supply module, a first AC / DC power supply module, and a second AC / DC power supply module. The servo motor power supply module, the first AC / DC power supply module, and the second AC / DC power supply module are used to power the motor drive unit, the embedded main control unit, and the hydraulic system unit, respectively. The sensor detection unit includes a digital sensor group and an analog sensor group. The digital sensor group is used for digital signal detection, and the analog sensor group is used for analog signal detection. The sensor detection unit transmits the digital and analog signals to the embedded main control unit.

8. The fixed lateral movement device control system of the shipborne electric-driven helicopter rapid capture method according to claim 7, characterized in that, The embedded main control unit includes a power supply circuit module, a driver control circuit module, a communication circuit module, an input detection circuit module, and an output drive circuit module; the motor drive unit includes a first servo driver and a second servo driver, the first servo driver is used to drive a high-speed servo motor to capture and release motion, and the second servo driver is used to drive a low-speed servo motor to straighten motion; the hydraulic system unit includes a mechanical claw drive module, a center lock drive module, an emergency lock drive module, a clutch drive module, a brake drive module, and a micro hydraulic pump station.

9. The fixed lateral movement device control system of the shipborne electric-driven helicopter rapid capture method according to claim 7, characterized in that, The switching sensor group includes a limit switch group and photoelectric sensors; the analog sensor group includes a magnetostrictive displacement sensor and a laser displacement sensor; the limit switch group includes a mechanical claw status detection limit switch, a center lock status detection limit switch, an emergency lock status detection limit switch, a port side buffer plate compression status detection limit switch, a starboard side buffer plate compression status detection limit switch, a port side extreme position detection limit switch, a starboard side extreme position detection limit switch, and a chain breakage detection limit switch; the photoelectric sensors include a port side probe proximity detection photoelectric sensor and a starboard side probe proximity detection photoelectric sensor.

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