涡轮阻拦装置自动回撤轨迹规划算法

摘要

Mathematical model of automatic retracts of turbine damping arresting gear system is cons-tructed.Trigonometric function is used for trajectory planning.Position-speed trajectory is used for position control.Trajectories based on shafting rotational speed and belt velocity are planned.Traits of two trajectories are compared and analyzed.A simulation model is set up,and experiments are carried out.It turns out that the trajectories are smooth;positioning is fast and precise;trajectory planning algorithm is feasible,which proves that the automatic retract algorithm is rational and correct.%为简化回撤操作,提高回撤效率,首先建立了涡轮阻拦装置自动回撤的数学模型;然后,使用三角函数加减速曲线进行轨迹规划,并使用位置轨迹曲线实现了位置控制.在此基础上,提出了按转速规划和按线速度规划两种规划方法,并对比分析了其优缺点;通过仿真和试验进行了验证,结果表明:回撤速度过渡平滑,定位快速精确,轨迹规划满足自动回撤的要求,由此证明了自动回撤轨迹规划算法的正确性和合理性.