| 无人直升机着舰模拟台控制系统设计 |
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| 引用本文： | 何剑钟,廖智麟,申焕萍.无人直升机着舰模拟台控制系统设计[J].直升机技术,2012(2):23-26. |
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| 作者姓名： | 何剑钟 廖智麟 申焕萍 |
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| 作者单位： | 中航工业直升机设计研究所,江西 景德镇,333001 |
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| 摘 要： | 介绍了无人直升机着舰模拟台的机构运动原理,对其进行了运动学逆解分析,并提出了一种基于PAC可编程自动控制器的数字PID闭环控制方法,充分利用了PAC的运动控制性能和高速传输能力进行6个伺服电动缸的位置控制,使模拟台平稳地模拟舰船的各种运动.
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| 关 键 词： | 无人直升机 着舰模拟台 PAC Steward |
design of control system of landing ship simulation manipulator for the unmanned helicopter |
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| Authors: | HE Jianzhong LIAO Zhilin SHEN Huanping |
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| Institution: | he jianzhong liao zhilin shen huanping |
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| Abstract: | This report presented the kinematics principle of a manipulator that simulated landing ship for the Unmanned Helicopter and its solution for the inverse kinematics was described,then a control method of digital PID closed loop was presented based on the PAC controller.The precision position controlling of 6 servo motors made full use of PAC advances in motion controlling and rapid transmission,then any movement of warship would be actualized smoothly. |
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| Keywords: | unmanned helicopter landing ship manipulator PAC Steward |
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