Force-position Cooperative Perfusion Control Of Insulation Material In Porous Structure

Thermal insulation layer is the main component of the thermal protection system of aerospace equipment,such as,aircraft,missiles,rockets.Its physical properties seriously affect the thermal insulation protection characteristics of the overall thermal protection system.Generally,the heat insulation layer adopts a porous structural member as an intermediate interlayer,and the porous structural member is filled with insulation materials,which having characteristics of heat insulation and vibration resistance,to enhance the overall performance of the heat insulation layer.Therefore,the perfusion quality of insulation materials in the porous structural member is closely related to the performance of the whole workpiece.In this paper,an automatic perfusion system for porous structural members with insulation materials based on industrial robots is proposed,aiming at the problems of poor consistency of perfusion height and low efficiency in manual perfusion.The automatic perfusion device is designed,the perfusion process parameters are analyzed,and the robot automatic perfusion system is built.The perfusion force and trajectory is controlled,and the perfusion quality is guaranteed.The specific research contents of this paper are as follows:A manual perfusion technique acquisition method based on multi-sensor information is proposed.Based on the successful manual single-hole perfusion process,the movement trajectories of the packing tube and piston and the perfusion force curve are established.The properties of insulation materials and the requirements of perfusion quality are analyzed.The process parameters affecting perfusion quality are summarized.Established an artificial perfusion technique acquisition system experimental platform,the monocular vision sensor,IMU and force sensor are used to extract position,force and attitude information during perfusion.The influences of perfusion process parameters such as perfusion power and initial height on the characterization parameters of perfusion quality are analyzed.Optimized perfusion process parameters are obtained.Based on fuzzy compensation algorithm,a force-position cooperative perfusion control method for insulation materials is proposed,which realizes the tracking and adjustment of force-position information.The multi-stage continuous perfusion process is analyzed,and the automatic perfusion trajectories are established.The kinematics model of robot automatic perfusion system is established,and the contact mechanics model of insulation material is established.Aiming at the control of perfusion height and tightness,the force position compensation controller based on fuzzy algorithm is studied.Through the simulation experiment,the reliability of the control method is verified.Finally,an automatic perfusion device with force-position coordination control function is designed.A robot-assisted automatic perfusion control software is developed,and a human-computer interaction interface is built.The experiment platform for automatic perfusion system based on industrial robot is built.The single-hole automatic perfusion experiment of insulation material is carried out with a certain type of porous structural member as the experimental piece.The effects of perfusion process parameters such as initial perfusion force threshold,pull-out perfusion force threshold and initial height on perfusion quality characterization parameters are verified.It is verified that the automatic perfusion system and force-position cooperative perfusion control method is feasible.The perfusion height is within the error range,and the perfusion quality is good.