Design And Experimental Research Of Vision-based Cartridge Automatic Docking System

Missile loading docking device is a kind of automatic equipment which can realize the precise docking of missile cartridge and rail frame,and then smoothly push the missile into the cartridge.The performance of missile loading docking equipment directly affects the efficiency of missile loading.At present,the key link of precise docking between the cartridge and the rail frame is still mainly manual alignment,which has the problems of low docking accuracy and long time consumption.Therefore,the design of a missile cartridge automatic docking system is of great significance to China’s national defense.This topic will be in the laboratory environment,the theoretical and experimental research on the design of cartridge automatic docking system is carried out from the key technology.It mainly includes the following research contents:Firstly,the overall scheme of the automatic docking system is designed.By analyzing the actual working process and design index of cartridge automatic docking,the overall scheme and research route of cartridge automatic docking system are proposed.Based on the D-H method,the coordinate system of the motion adjustment mechanism is constructed,and the relationship between the inverse solution of the mechanism and the pulse equivalent of the motor is solved by the cartridge pose adjustment scheme.Secondly,the control strategy of cartridge automatic docking system is studied.By analyzing the relationship of the motion coupling of the adjustment mechanism,and combining the PID control algorithm and the feedforward control algorithm,a feedforward PI control algorithm is proposed to reduce the error caused by the motion coupling of the adjustment mechanism.The effectiveness of the algorithm is verified by simulation experiments,which provides a basis for the subsequent construction of electrical control unit.Again,the automatic docking cartridge computer control system is designed.The computer control system of cartridge automatic docking includes pose detection unit and electrical control unit.In terms of pose detection,a pose detection method based on monocular vision is proposed,which accurately calculates the relationship between the preset target coordinates and the spatial pose of cartridge.In terms of electrical control,the required hardware circuit schematics are designed,and the overall hardware structure of the control unit is built.According to the functional requirements of the electronic control unit,the main control board and computer control software program are designed.Finally,the simulation platform and test platform of the cartridge automatic docking system are built.Based on the control variable method,the simulation experiment is carried out in the Simscape-Simulink ideal simulation environment.By observing the motion state of the motion adjustment mechanism,the control effect of the feedforward PI controller on the stepper motor is studied separately.On the basis of the simulation test,the automatic docking system test platform in the laboratory environment is built,the accuracy of the cartridge pose detection algorithm is studied separately,and the design index compliance requirements of the cartridge automatic docking system are verified.