CASIA OpenIR  > 精密感知与控制研究中心  > 精密感知与控制
程宁波1,2; 冯斌1; 贾怀庭1; 李富全1; 魏晓峰1
Source Publication机械工程学报
Abstract靶定位系统是惯性约束聚变(Ignition confinement fusion,ICF)激光装置靶场系统的重要子系统之一,但在调靶过程中表现出运动学耦合现象。为了解决此问题,建立靶定位系统的运动学模型,给出靶定位系统产生运动学耦合现象的理论解释,提出一种实用的、与靶的类型无关的"增量式"位姿调整方法,给出该调整方法中必需的一个姿态矩阵的辨识方法。考虑实际靶定位系统中靶传感器的测量能力和六自由度并联机械手的定位能力这两个关键方面的约束条件,对姿态矩阵辨识方法和"增量式"位姿调整方法进行仿真验证。仿真结果表明,"增量式"位姿调整方法不仅有效地解决了靶定位系统的运动学耦合问题,而且能够在靶的期望位置增量不超过一定值(如2 mm)时保证很高的位置控制精度。
Other AbstractTarget-positioning system (TPS) is one of the important subsystems of the target area of the laser facility for ignition confinement fusion (ICF). However, TPS shows to have kinematic coupling problem in target alignment. To solve this problem, the kinematic model of the TPS is constructed and theoretical explanation of why TPS is kinematic coupled is given. And an “incremental” position & orientation control method (IPOCM) is proposed which is independent of target types and much of practical use. A matrix identification method is then proposed to obtain the orientation matrix that will be used in IPOCM. Simulations are performed to verify the matrix identification method and the IPOCM, considering constraint conditions of two key aspects of the TPS, the measurement capability of the target sensor and the positioning capability of the 6-degree-of-freedom parallel manipulator. Simulation results show that IPOCM is able to effectively solve the kinematic coupling problem of the TPS, and that IPOCM has the capability of high precision position control under the condition that the expected position increment of the target is no more than a certain value ( 2 mm for example ).
KeywordIcf 激光装置 靶定位系统 运动学耦合
Document Type期刊论文
Corresponding Author魏晓峰
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
程宁波,冯斌,贾怀庭,等. ICF激光装置靶定位系统运动学耦合问题研究[J]. 机械工程学报,2016,52(11):63-71.
APA 程宁波,冯斌,贾怀庭,李富全,&魏晓峰.(2016).ICF激光装置靶定位系统运动学耦合问题研究.机械工程学报,52(11),63-71.
MLA 程宁波,et al."ICF激光装置靶定位系统运动学耦合问题研究".机械工程学报 52.11(2016):63-71.
Files in This Item: Download All
File Name/Size DocType Version Access License
ICF激光装置靶定位系统运动学耦合问题研(571KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[程宁波]'s Articles
[冯斌]'s Articles
[贾怀庭]'s Articles
Baidu academic
Similar articles in Baidu academic
[程宁波]'s Articles
[冯斌]'s Articles
[贾怀庭]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[程宁波]'s Articles
[冯斌]'s Articles
[贾怀庭]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: ICF激光装置靶定位系统运动学耦合问题研究_程宁波.pdf
Format: Adobe PDF
This file does not support browsing at this time
All comments (0)
No comment.

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.