| Ship’s outer panels painting is a key process to extend service life,improve safety performance and reduce maintenance costs.Under the wave of intelligent transformation of ship construction and high-quality development of ship industry,it has become an inevitable trend to realize intelligent,flexible and lean spraying of ship outer plates.In this context,Based on the UAV as the spraying carrier,this thesis designs an adaptive spraying device for the outer panel of a ship,and studies the spraying quality control method and proposes the corresponding spraying trajectory optimization method and adaptive spraying control optimization method,the main research contents of the thesis are as follows:(1)Design of adaptive spraying device for ship’s outer panelsIn this thesis,the adaptive spraying device is designed.Firstly,the structural design and selection of important constituent parts of the ship’s outer panel adaptive spraying device are required according to the performance index and actual function,and the motion simulation is carried out;secondly,the control system is developed and designed,and the power supply module of the whole device is designed;finally,the factors affecting the spraying quality are analyzed,and the influence of spraying trajectory optimization,spraying angle and distance control on the spraying quality is determined.(2)Propose a spraying trajectory optimization method based on an improved elite nondominated ranking genetic algorithmThe thesis proposes a multi-objective optimization method for the spraying trajectory with respect to the three factors affecting the spraying quality: spraying speed,spraying distance and trajectory spacing.First,the existing distribution model is fitted and derived to establish the distribution model of the paint film thickness on the surface of the outer plate of the ship;at the same time,the outer plate surface is considered as a collection of discrete points,and the initial spraying trajectory is fitted;finally,a multi-objective optimization model of the spraying trajectory is established with the objectives of uniform distribution of paint film and shortest spraying time,and the model is solved by an improved elite nondominated ranking genetic algorithm to obtain a non-inferior solution set of the spraying trajectory,which achieves the effect of improving the spraying quality and spraying efficiency of the device.(3)Propose an adaptive spraying control method based on improved fuzzy PIDUnder the condition that the spraying trajectory is determined,a spraying angle and distance adaptive control optimization strategy based on improved fuzzy PID is proposed.Firstly,the whale optimization algorithm is improved and applied to fuzzy PID control,and combined with the electric servo drive system model,the corresponding controller is designed to realize the optimization of spraying angle control;secondly,with the help of laser sensors,the stepper motor is optimized based on the improved fuzzy PID control,and then the adaptive control of spraying distance is realized;finally,the controller model is established in the simulation software,and the control effect is compared using various algorithms,and the simulation results verify the effectiveness and superiority of the proposed method.(4)Adaptive spraying platform construction and experimental validationFirst of all,the adaptive spraying device was tested according to the overall design and functional requirements,then the spraying platform used for the whole experiment was built,and finally,in order to verify the feasibility of the adaptive spraying device developed in this thesis and the proposed spraying quality control method,the actual spraying experiment was carried out on the outer plate segments of the ship,and the experimental results showed that the thickness of the paint film formed after the operation was uniform,and they all met the film thickness requirements,and there were no obvious appearance defects. |
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