面向船舶智能喷涂系统中物料供应平台的避障控制及其仿真

Obstacle avoidance control and simulation formaterial supply platform in ship intelligent spraying systems

为实现船用智能喷涂系统自动化的喷涂作业,设计物料供应平台的跟随避障控制器,实现对智能喷涂平台的自主跟随与自主避障.首先分析物料供应平台的工作状况与作业需求,确定跟随避障控制器的设计要求;其次对物料供应平台的随动车底盘进行运动学分析,构建随动小车运动模型;随后基于模糊逻辑算法创建避障控制器的控制策略,同时以PID算法为理论基础设计了跟随控制器,并创建由避障控制和跟随控制构成的物料供应平台控制系统;最后以Matlab和CoppeliaSim为软件平台,创建物料供应平台避障的联合仿真环境,对物料供应平台的跟随和避障进行虚拟仿真.由仿真实验结果可知:物料供应平台能够自主侦测并规避障碍物,且保持对智能喷涂平台的跟随,表明该控制方法具有可行性和实用性.

In order to realize the automatic spraying operation of the marine intelligent spraying system,this paper takes this type of spraying system as the object,and designs the following obstacle avoidance controller of the material supply platform to meet the autonomous following and autonomous obstacle avoidance of the intelligent spraying platform.The general research process and methods are as follows.Firstly,the working conditions and operation requirements of the material supply platform are analysed,and the design requirements of the following obstacle avoidance controller are determined;secondly,the kinematics analysis is carried out on the chassis of the follower car of the material supply platform,and the motion model of the follower car is constructed.Then,the control strategy of the obstacle avoidance controller was created based on the fuzzy logic algorithm,and the following controller was designed based on the PID algorithm,and the material supply platform control system composed of obstacle avoidance control and follow control was created.Finally,using Matlab and CoppeliaSim as software platforms,a co-simulation environment for obstacle avoidance of the material supply platform is created,and virtual simulation of the material supply platform′s following and obstacle avoidance is performed.It can be seen from the simulation experiment results that the material supply platform can autonomously detect and avoid obstacles,and keep following the intelligent spraying platform,which shows that the control method designed in this paper is feasible and practical.