Research On Energy-optimal Trajectory Planning Of Giant Laser Device Docking Platform

With the intensification of the traditional energy crisis and the increasingly prominent environmental problems,People have been paying a growing attention to the development and utilization of nuclear energy.China has proposed a huge laser device development plan,which undertakes the important task of inertially constrained nuclear fusion.The transportation and installation of thousands of special experiment module is a key part in the development of giant laser devices.It requires dozens or even hundreds of special experimental module installation and calibration system.Under heavy load conditions,the special experimental module installation and calibration system consumes a lot of energy,which will reduce battery life and work efficiency,so reducing energy consumption is an important problem in the process of working.In view of this,this paper conducts trajectory planning research on the docking platform of the giant laser device,based on the principle of energy optimization in the process of docking the special experiment module and the clean room.Firstly,according to the actual installation requirements of the special experiment module,the giant laser device docking platform composed of a horizontal adjustment unit(3-PSS + PS parallel mechanism)and a plane adjustment unit(4-PP parallel mechanism)was designed and the structural principle analysis was analyzed.Then,the degree of freedom of the docking platform was analyzed based on the spiral theory.It verified the rationality of structural design and had the function of adjusting the six degrees of freedom of the special experiment module.Secondly,the position inverse solution model of the docking platform was established by the analytical methods which was verified by the simulation software Adams;Meanwhile the velocity Jacobian matrix was established by the velocity vector-spiral theory method and the derivative method,and its singular position was analyzed and obtained based on the velocity Jacobian matrix.Subsequently,the dynamics model was established by the virtual work principle method,which was verified by the simulation software Adams.Finally,the path points of the docking platform were connected by a non-uniform quintic B-spline curve in the Cartesian space.Based on the analysis of kinematics and dynamics,an energy consumption model during the work of the docking platform was established.With the consideration of kinematics and singularity constraints,particle swarm optimization with different inertia weights and acceleration factors was used to optimize the trajectory.Compared with the control group,the optimized energy consumption was significantly reduced;In order to improve its local optimization ability,selection,crossover and mutation operations of genetic algorithm were improved and integrated into particle swarm algorithm to form genetic-particle swarm algorithm,which was used to optimize the energy consumption model.By comparing optimization methods,it can be obtained that the energy consumption optimized by genetic-particle swarm algorithm is significantly reduced.