四自由度平台条件下的六自由度水声测试技术
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摘要
六自由度水声测试装置可在三维空间实现各种声呐姿态的控制,研究四自由度测控平台条件下的六自由度声学测量技术,可有效扩展四自由度声学测试平台功能,解决低自由度测控装置无法实现更高自由度声学测试等问题。通过建立维度传递模型,将四自由度测试平台条件下实测的几何量值转变为对声呐的六自由度控制,并设计了相应的声呐测试流程,计算机数值计算验证了维度传递理论及该技术方法的可行性及有效性。研究结果表明,该技术可在四自由度测试平台条件下以较高的效率实现声呐的六自由度测试。
Six degree of freedom underwater acoustic testing device can control all kinds of sonar attitude in three-dimensional space.Research on six degree of freedom acoustic measurement technology under four degree of freedom measurement and control platform can effectively expand the function of four degree of freedom acoustic testing platform,and solve the problem that low degree of freedom measurement and control device could not achieve higher degree of freedom acoustic testing. By establishing the dimension transfer model,the measured geometric values under the four degree of freedom test platform are transformed into the six degree of freedom control of sonar,and the corresponding sonar test flow is designed. The feasibility and validity of the dimension transfer theory and the technical method are verified by computer numerical calculation. The research results show that the technology can achieve six degree of freedom sonar test with high efficiency under the condition of four degree of freedom test platform.
Six degree of freedom underwater acoustic testing device can control all kinds of sonar attitude in three-dimensional space.Research on six degree of freedom acoustic measurement technology under four degree of freedom measurement and control platform can effectively expand the function of four degree of freedom acoustic testing platform,and solve the problem that low degree of freedom measurement and control device could not achieve higher degree of freedom acoustic testing. By establishing the dimension transfer model,the measured geometric values under the four degree of freedom test platform are transformed into the six degree of freedom control of sonar,and the corresponding sonar test flow is designed. The feasibility and validity of the dimension transfer theory and the technical method are verified by computer numerical calculation. The research results show that the technology can achieve six degree of freedom sonar test with high efficiency under the condition of four degree of freedom test platform.
引文
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[2]DENNIS L,STEVEN T,WIM S,et al.An ultrasonic six degrees-of-freedom pose estimation sensor[J].IEEESensors Journal,2017,17(1):151-159.
[3]阳航,涂海文,谢文雄,等.一种新型船模水动力性能测试装置研究[J].舰船科学技术,2017,39(2):31-36.YANG H,TU H W,XIE W X,et al.A new hydrodynamic testing device of model ship[J].Ship Science and Technology,2017,39(2):31-36.
[4]王勇,李秀娟.某四自由度机械臂建模与MATLAB仿真研究[J].电子测量技术,2015,38(2):32-36.WANG Y,LI X J.Modeling and simulation of 4-DOFmanipulator based on MATLAB[J].Electronic Measurement Technology,2015,38(2):32-36.
[5]付胜华,韩秋实,王红军.高速大行程滚珠丝杠副智能测控平台的伺服控制[J].电子测量与仪器学报,2017,31(11):1821-1827.FU SH H,HAN Q SH,WANG H J.Sero control of intelligent measurement and control platform for ball screw with high speed and large range[J].Journal of Electronic Measurement and Instrumentation,2017,31(11):1821-1827.
[6]王文,张敏,朱晔文,等.球铰链的多维回转角度测量方法研究综述[J].电子测量与仪器学报,2017,31(1):1-8.WANG W,ZHANG M,ZHU Y W,et al.Review of multi-dimensional angular displacement measurement method for spherical joint[J].Journal of Electronic Measurement and Instrumentation,2017,31(1):1-8.
[7]CHENG X,ZHAO M.Analysis on the trajectory planning and simulation of six degrees of freedom manipulator[C].3 rd International Conference on Mechanical,Control and Computer Engineering,2018:385-387.
[8]蔡正龙,王志明,崔利贞,等.倒挂六自由度运动平台设计研究[J].计量与测试技术,2018,45(8):15-18.CAI ZH L,WANG ZH M,GUI L ZH,et al.A design and research of upside down 6-DOF motion platform[J].Metrology&Measurement Technique,2018,45(8):15-18.
[9]朱军,王武华.水声专用装备计量测试方法研究[J].计量与测试技术,2012,39(2):19-21.ZHU J,WANG W H.Research on metrology test method for hydro-acoustics special materiel[J].Metrology&Measurement Technique,2012,39(2):19-21.
[10]王胜超,穆嘉星,杜颖,等.水声传感器自动测试位移机构设计[J].计测技术,2016,36(5):14-18.WANG SH CH,MU J X,DU Y,et al.Design of displacement mechanism for automatic testing experiment of underwater acoustic sensors[J].Metrology&Measurement Technology,2016,39(2):14-18.
[11]陈雪丽,张成义.基于六自由度运动平台潜艇模拟器的研究与仿真[J].舰船科学技术,2018,40(10A):19-21.CHEN X L,ZHANG CH Y.Research and simulation of submarine simulator based on six degree of freedom motion platform[J].Ship Science and Technology,2018,40(10A):19-21.
[12]阳航.六自由度船模水动力性能测试装置的研究[D].武汉:华中科技大学,2016.YANG H.Research on six-Do F hydrodynamic testing device of model ship[D].Wuhan:Huazhong University of Science and Technology,2016.
[13]DAS S,TALOLE S E.Validation of autopilot controller for marine surface vessels with six Do F model[C].2018IEEMA Engineer Infinite Conference,2018:1-6.
[14]LIU X Q.Analysis of AUV motion characteristic based on multi-factors closed-loop control system[C].2017Chinese Automation congress,2017:7851-7854.
[15]SHAN X F,ZHAO D P.Position calculation of sea-sky line based on six degree of freedom motions of the ship[C].3 rd International Conference on Intelligent Transportation Engineering,2018:180-185.
[16]NASSIM K,NABIL G C.Guidance and control scheme for under-actuated marine surface vessels[C].Proceeding of the 2010 American Control Conference,2010:5230-5235.
[17]郭永凤.一种混联六自由度运动平台的结构及控制研究[J].信息技术,2018(11):111-116.GUO Y F.The research for the structure and control of a new 6-Do F motion platform[J].Information Technology,2018(11):111-116.