对接设备对接过程中的虚拟模拟技术研究

The Virtual Simulation Technology Research in the Process of Docking Device and Docking

大型对接设备的工作量大、对接要求较高,存在技术难度大、协作困难等问题。传统设备对接过程主要依靠人工操作和设备协调,导致对接效率较低,周期较长,无法满足当前大型对接设备的对接要求。提出了应用位姿变换原理的自动化对接过程虚拟仿真模型,分析了大型对接设备对接过程动力学模型,准确描述设备对接过程的碰撞特性,依据位姿变换理论,塑造两个对接设备坐标转换矩阵,进行对接设备位姿标定,规划对接设备对接过程中的调姿轨迹,完成自动对接。依据相应的规范判断对接结果偏差是否在容差区间中,若偏差在容差区间中,则完成对接过程,否则应重新进行对接,直至满足容差要求。仿真实验结果说明,该模型的仿真结果同试验数据十分接近,所提模型可实现机身位姿的精确自动定位,具有较高的稳定性。

Large dock equipment workload big, quality is higher, and there are technical difficulties, such as collaboration difficult problem. Traditional equipment docking process relies mainly on the manual operation and coordination, leading to a lower efficiency of docking, cycle is long, large dock equipment cannot meet the current requirement for docking. Put forward the principle of position transformation of automated docking process virtual model, analysis of the large dock equipment docking process dynamic model, accurately described equipment collision characteristics of docking process, based on the theory of position transformation, shape two docking device coordinate transformation matrix, docking the equipment calibration, planning in the process of docking device docking pose trajectory, complete the automatic docking, according to the corresponding specification to determine whether a docking results deviation in the tolerance range, if the deviation in the tolerance range, complete docking process, otherwise should be performed to docking, until meet the tolerance requirements, the result of simulation experiment shows that the proposed model of simulation results with the test data is very close, the proposed model can realize the fuselage posture of automatic positioning precision, has the high stability.