基于四元数的单轴对称水果定向控制力矩分析

Analysis in Control Torques of Uniaxial Symmetry Fruit During Orientation Based on Quaternion

研究单轴对称水果在传输过程的定向机理,旨在为定向装置结构优化和参数设计提供必要的依据。首先,针对杏子在定向装置内的运动,借助四元数转换不同坐标系间角速度,并将欧拉运动学方程转换成姿态差运动学方程,成功构造控制力矩矩阵,利用Lyapunov函数证明其能确保姿态差运动学方程达到稳定;然后,通过建立Simulink仿真求解,与理论分析结果吻合,设置的控制力矩合理;最后,通过正交试验,结果表明试验数据与仿真结果基本吻合,最终得出当控制力矩为150N·mm时是杏子的最佳切割参数。

In order to study the mechanism of fruit orientation during transmission,this paper proposes the the theoretical basis for the optimization of structure and parameter design.For the movement of apricots at the orientation device,aquaternion was used to obtain the transform of the angular velocities between different coordinates,and the Euler dynamic equation was converted into the attitude error dynamic equation.A control torque matrix was designed and proven to make the attitude error dynamic equation reach stability,with the help of the Lyapunov function.The simulation results match the theoretical analysis,and the control torque was confirmed to be reasonable.The experimental data was shown to agree with the simulation results compared with the orthogonal experiment.Finally,the best cutting control torque of the apricot was shown to be 150N·mm.