摘要
为了应对风浪、船体姿态变化等扰动因素对水炮射流造成的影响,论文使用光电成像设备、惯性测量单元和水炮等设备设计一套智能船载水炮系统,并提出一种基于射流落点与船体姿态反馈的水炮射流稳定补偿方法。一方面,建立船体姿态变化与水炮关节电机角度的补偿模型,通过惯性测量单元采集船体姿态,实现抗载体扰动;另一方面,建立射流落点与水炮关节转动角之间的逆运动学模型,根据射流落点的状态对水炮关节角进行补偿控制,实现射流的稳定射击与精准打击。仿真和实际平台实验验证表明,论文设计的系统和提出的方法能够实现射流的稳定补偿,相比于传统射流模型补偿的方法,射流对目标打击的平均误差降低了82%,提高了射流落点的准确度。
In order to cope with the influence of wind and waves,vessel attitude change and other disturbance factors on the water jet,an intelligent water jet system is designed by using photoelectric imaging equipment,inertial measurement unit and water cannon,and a water jet stability compensation method based on jet landing point and vessel attitude feedback is proposed.On the one hand,the compensation model of vessel attitude change and water cannon joint motor angle is established,and the vessel attitude is collected by inertial measurement unit to achieve anti-carrier perturbation,on the other hand,the inverse kinematic model between jet landing point and water cannon joint rotation angle is established,and the water cannon joint angle is compensated and controlled according to the state of the jet landing point to achieve stable shooting and accurate strike of the jet.Simulation and actual experiments show that the designed system and proposed method in this paper can achieve stable compensation of the water jet.The average error of the jet on the shooting target is reduced by 82%compared with the traditional method of jet model based compensation,which improves the shooting accuracy.
作者
何浩玮
林云汉
纪文龙
HE Haowei;LIN Yunhan;JI Wenlong(College of Computer Science and Technology,Wuhan University of Science and Technology,Wuhan 430065;Hubei Province Key Laboratory of Intelligent Processing and Real-time Industrial System,Wuhan 430065;Institute of Robotics and Intelligent System,Wuhan University of Science and Technology,Wuhan 430081)
出处
《计算机与数字工程》
2023年第9期2000-2006,共7页
Computer & Digital Engineering
关键词
智能水炮
射流落点
姿态监测
稳定补偿
intelligent water jet
landing point
attitude monitoring
stability compensation
