Canister Docking Platform And Controlling Research On Bottom Loading Device

In the process of implementation,a Giant Laser Device needs to install numbers of LRU modules into the laser beam groups from bottom to top,and the installation conditions require very high space cleanliness(ISO5 level).Considering this reason,special tooling equipment is needed to realize the assembly and calibration of LRU modules.The equipment is designed with a canister for transporting and storing LRU modules.After arriving at the setting place,the canister needs to be adjusted and lifted so that it can be joined and pasted with the bottom cover door of the Giant Laser Device to form an extrusion.Then the bottom cover door and the top door of the canister are opened to form a clean airtight space.Then the LRU module can be installed and calibrated.This paper mainly studies the lifting docking part of the canister of downloading equipment,discusses the mechanism and kinematics relationship of the docking platform,and studies its control scheme.Based on the requirements and functions analysis,the docking platform structure scheme of the canister of the Giant Laser Device downloading equipment is put forward,which is connected by a planar three-degree-of-freedom adjusting mechanism and a four-point support leveling and lifting mechanism to realize six-degree-of-freedom adjustment in space,and the kinematics analysis of the mechanism is carried out.According to the design principles,technical requirements and indicators of the system,and taking into account the actual working situation,the sensor detection schemes and industrial servo system of the docking platform are established.The key components of the docking control system for canister lifting are selected and analyzed,and the overall electronic control scheme of the docking platform is obtained.As the problem that the actual adjustment of docking platform may lead to visual measurement failure,the six-degree-of-freedom position and attitude linkage adjustment is divided into three processes: horizontal adjustment,plane adjustment and lifting docking.Firstly,four-point leveling is carried out to ensure the level requirement for the follow-up visual measurement adjustment.A strategy of "aligning" to the highest point is proposed and the position adjustment of each supporting leg is given.Then,the three-degree-of-freedom of the plane is adjusted by the visual measurement feedback on the top of the canister to fix the plane error requirement for subsequent lifting.Finally,lifting docking is carried out.Considering that the docking surface needs to form a certain extrusion force,to ensure smoothing docking,a force-based impedance control strategy is proposed.Aiming at the motion control process and strategy proposed before,the simulation model of MATLAB/Simulink is established.The simulation results show that the proposed control strategy is correct and reasonable.The proposed system scheme can meet the task requirements of the lower container lifting docking,and can be considered for application in subsequent projects.