Research On The Control System Of Positioning Numerical Control Device For The Hull Sections

Mega block shipbuilding method has been one of the most advanced shipbuildingmethod of the world. Meanwhile, for its advantages of raising efficiency and productivity ofshipbuilding, increasing economic benefits rapidly, this method has been paid more attentionto by many shipyards. The NC positioning machine is a special equipment used in quantitywhen adopting this method, it solves the problem of rapid docking between the docking shipblock and standard ship block. This topic aims to design an effective control system whichcoordinated controlling the fast accurate localization of each NC positioning machine in orderto realize the pose control task of the subsection ship when docking.To ensure the rapidity, stability and accuracy of the docking, considering the supportstructure of the NC positioning machine and the movement requirement of the docking shipblock, establishing the overall scheme of the control system which including the mastercontroller and the slave controller and putting forward the structure hierarchy of thecentralized control and the position control method based on the cooperative motion controlcharacteristics of the multi-robot.With the deep analysis on the actual requirement of the two different working mode: oneNC position machine working individually and multi-ones working cooperatively,establishing each function module of the hardware circuit based on the SMT32F103VCT6MCU, completing the design of the hardware circuit of the master-slave control system;setting up the communication network based on the RS485bus and improving its antiinterference performance, thus ensure the continuous and stable operation of thecommunications between the master and slave controller.Using the geometric method, establish the inverse kinematics model of the single NCposition machine which has three degrees based on its own locating datum, complete thecontrol algorithm of the position movement when the NC position machine workingindividually. On this basis, combining with cooperative motion control method of themulti-robot, set up the base coordinate system of the whole16sets of the NC positionmachine who supporting the subsection ship; Establish the inverse kinematics model of the16sets of NC position machine which are controlled coordinated by adopting homogeneous transformation method between the coordinate systems. And analysis the pose adjusting spaceof the subsection ship by Matlab.Finally, the program of the host computer monitoring system is written by LabVIEW,complete the experiment of the whole system by means of the experimental platform of thewhole control system established, verify both the stability and reliability of the control systemand the feasibility and correctness of the movement control method by the data results.Establish the model for quantitative analyzing of the errors by Matlab, through what discussthe effects respectively on both the situation of one NC position machine workingindividually and the subsection ship working coordinated.