基于三维调姿装备的总段对接系统和方法

Block Erecting System and Method Based on of 3D Pose Adjusting Equipment

总段建造模式是一种新型高效的船舶建造模式,其核心为总段异地建造和高效精准对接。总段智能对接系统采用多个离散分布的相对位置可灵活布置的调姿装备,通过测量固定段和移动段的特征点坐标信息,提出对接数据自动解算算法,使用二分法自动生成数控调姿装备的协同控制位置/力指令,实现了总段高精度对接。介绍了三维数控调姿装备的机构设计和群控系统,经过仿真分析和实验验证,证明了所提出的三维数控调姿装备协调控制系统和方法可实现总段的高精度自动对接。

The block construction mode is a new and efficient ship construction mode.Its core is the block off-site construction and highly efficient and accurate erecting.Block intelligent erecting system uses multiple adjusting equipment at positions that can be arranged flexibly.By measuring the coordinate information of the feature points of the fixed segment and the moving segment,the system proposes an algorithm for automatic calculation of the erecting data.The dichotomy method is used to automatically generate the position/force command of the cooperative control of the CNC pose adjusting equipment.This paper introduces the mechanism design and group control system of 3 D CNC pose adjusting equipment.Through simulation analysis and experimental verification,it is proved that the proposed coordination control system and method for 3 D CNC pose adjusting equipment can realize high-precision automatic block erecting.