Research On Three-dimensional Heavy Load Adjustment Technology For Space Docking Of Large Structures

In recent years,the exploitation of marine oil and gas resources has been paid more and more attention,and the structures that serve the exploitation of oil and gas are also becoming larger and larger,therefore,in order to improve the production efficiency,the module manufacturing technology is introduced into the construction of large structure,it brings about the problem of module docking.In order to realize the docking with the reference module,this paper studies the 3D docking system for large structures to meet the attitude adjustment of the docking module.In this paper,based on the technical requirements for the docking of large structures,the device model is designed by using the 3D design software,and the finite element analysis of the device is carried out according to the different working conditions,at the same time,the hydraulic circuit of the system is designed and the main hydraulic components are selected;in order to achieve the control target,it is necessary to convert the adjusted attitude into the displacement value of each hydraulic cylinder,so,the coordinate system and the motion equation of the single device are established,at the same time,in order to realize multi device linkage,the layout of the device is planned,and the basic coordinate system of the system is established,then,based on the theory of space homogeneous coordinate transformation,the kinematics equation of multi device linkage is obtained;in order to realize the cooperative control of multiple hydraulic cylinders,in this paper,the fuzzy adaptive PID control is introduced on the basis of the same control to improve the self-following precision of each hydraulic cylinder,and a multi cylinder cooperative control model based on fuzzy adaptive PID is established,then according to the actual deviation value of six degrees of freedom,the displacement value of each hydraulic cylinder is obtained by the inverse solution,and 16 hydraulic cylinders are simulated at the same time by MATLAB-AMESIM joint simulation to verify the cooperativity of control;finally,by using SIEMENS SIMATIC Manager software and WinCC software,and based on PROFIBUS-DP fieldbus technology,the hardware configuration and software program development process of the docking system are completed,at the same time,the part of the terminal diagram of the system is designed.