Design And Predictive Control Strategy Of Automatic Frame Decontamination System

In the current international situation,human beings are facing a variety of NBC(nuclear,biological and chemical)threats.NBC Weapons and NBC Accidents can bring fatal harm to our lives.The tasks of NBC defense,represented by decontamination,are expanded from military targets to diversification and wider scope.The main task of decontamination equipment is to implement timely and effective decontamination measures to infected combatants,weapons and equipment under the conditions of NBC warfare,to ensure survival,maintain operations,and restore the combat effectiveness of troops and weapons in a timely manner.Decontamination equipment can also eliminate pollution in time to ensure the safety of the people in the events of major nuclear accidents,NBC terrorist activities and natural disasters.As a key part of safeguards and rescue under NBC conditions,multiple kinds of decontamination equipment are playing a crucial role in preventing the spread of pollution,reducing the rate of contamination and reducing mortality.The operation capacity and automation level of decontamination equipment have great value to ensure the safety of our nation's NBC protection,and it is also one of the problems that need to be solved urgently.In response to the needs of automated rapid decontamination operations of tank vehicles and other equipment in the NBC battlefield environment,it is required that the decontamination equipment can quickly complete the decontamination task at anytime and anywhere.At the same time,they should have the ability to operate automatically and complete large batches of decontamination tasks.In this paper,the structural design,modelling,trajectory control and advanced control methods of the new Automatic Frame Decontamination Manipulator are researched.The following aspects of research work have been carried out:1.Design a new vehicular automatic decontamination manipulator that can be used for decontamination operations.Based on the requirements of automated rapid decontamination for large-scale targets such as tank and vehicle equipment in the NBC battlefield environment,a new Automatic Frame Decontamination Manipulator is designed to meet the requirements of vehicle off-road and large-size precise decontamination.The manipulator has a five-degree-of-freedom series manipulator and the two-degree-of-freedom terminal implementation structure,driven by electro-hydraulic servo.It has a reasonable structure,and its operation is stable and reliable.And this lays a foundation for the development of new decontamination equipment.2.Analyze and model the designed Automatic Frame Decontamination Manipulator.Firstly,the D-H method is used to establish the simple coordinate relationship of the Automatic Frame Decontamination Manipulator and the respective joint parameters.The forward kinematics model of the Automatic Frame Decontamination Manipulator is bulit using the MATLAB toolbox,and the motion homogeneous matrix is established and the manipulator workspace is acquire and analyze by the Monte Carlo method.Finally,the inverse motion model of multi-degree-of-freedom compound motion control is established by the geometric method and the neural network inverse model.The characteristics of its electro-hydraulic servo drive system are analyzed,and the dynamic model is established in the form of transfer function.The validity of the dynamic model is verified by simulation.3.Design of Automatic Frame Decontamination Manipulator trajectory control method based on model predictive control.According to the completed Automatic Frame Decontamination Manipulator's hardware design and electro-hydraulic servo drive joint model,developing and applying a novel cascade prediction control algorithm,the trajectory tracking control method based on predictive control is designed,which can output an optimized reference path for driving electro-hydraulic servo system.It can meet the requirement of trajectory tracking control at the terminal of the Automatic Frame Decontamination Manipulator.The results of kinematics simulation experiments show that the established Automatic Frame Decontamination Manipulator can complete the uniform linear motion according to the workflow requirements.Combined with the equipped decontamination preparation unit and the equipped terminal dispersing pipeline,it can realize the rapid automation decontaminate demand of large-scale weapons and equipment such as tank or truck.4.The design of nonlinear predictive control algorithms based on the block structure nonlinear Hammerstein model two-step method and neural network model.According to the characteristics of control objects in the decontamination process and the Hammerstein model,the dynamic response neural network model and the neural network inverse model of the static nonlinear part of the process are identified respectively.Based on this,the overall control strategy of neural networks model predictive control(NNMPC)and the two-step control strategy of nonlinear Hammerstein model predictive control(NLHMPC)are established.Compared with the PID control method,the two neural-network-based nonlinear predictive control strategies have good set-point tracking and anti-interference control response,which shows that they are effective control methods for nonlinear process systems.In addition,they can effectively solve the nonlinear control problems encountered in the process of the production of decontamination agents,the treatment of decontaminated wastewater and the decontamination of chemical agents.