舱段自动对接技术的研究与分析

Research and Analysis of Automatic Docking Technology of Cabin Section

舱段对接技术在产品的对接过程中是核心技术,对接的成功与否通常直接取决于结构的稳定性及软件算法的优化,为此文章针对舱段自动对接的需求做了理论分析及算法的优化,希望通过此研究为精密对接系统提供参考。对接系统由舱段检测系统与调姿对接机构两大部分构成。对接过程经常出现一次对接后更换的产品无法再次对接或对接困难甚至对不上的情况。当前出现的问题主要是在检测系统上,调姿对接机构部分问题较少。根据这种现状,文章尝试梳理分析了舱段测量系统的误差来源,针对不同的误差来源给出针对性的控制措施建议,对产品夹回零位后常有对接不上的现象给出了一种逻辑合理的模型并给予解释。

The segment docking technology is the technical core in the cabin docking process,and the success of docking usually depends on the stability of the structure and the optimization of the software algorithm.Therefore,this paper makes theoretical analysis and algorithm optimization for the demand of automatic docking of the segment,hoping to provide reference for the precision docking system through this research;The docking system consists of two parts:the cabin detection system and the attitude adjustment docking mechanism.In the docking process,it often occurs that the products replaced after one docking cannot be docked again,or docking is difficult or even impossible.The current problems are mainly in the detection system,followed by the attitude adjustment and docking mechanism.According to this situation,this paper attempts to sort out and analyze the error sources of the cabin measurement system,and gives targeted control measures and suggestions for different error sources,and gives a logical and reasonable model to explain the phenomenon that the product often fails to connect after being clamped back to the zero position.