本文選題：主除塵器 + 副除塵器　； 參考：《武漢紡織大學(xué)》2017年碩士論文

【摘要】：隨著現(xiàn)代化紡織技術(shù)的進(jìn)步和日益擴(kuò)大的規(guī)模化生產(chǎn)線發(fā)展,紡織工藝對環(huán)境的要求日趨提高。眾所周知,紡織工藝是一個(gè)產(chǎn)生高度污染的過程,不同的生產(chǎn)工序和設(shè)備加工都將產(chǎn)生大量的粉塵。紡織廠若不采取除塵措施,灰塵和大量的含塵空氣必將廣為擴(kuò)散,嚴(yán)重污染車間和周圍環(huán)境,直接危害職工健康和影響產(chǎn)品質(zhì)量。我國大部分紡織生產(chǎn)車間的粉塵濃度均值在2.0mg/m3以下,基本符合國家最低排放標(biāo)準(zhǔn)。但在清掃、搬運(yùn)和存儲(chǔ)等過程中,一些未被完全清理的粉塵在外力作用下再次擴(kuò)散,對設(shè)備及人員造成二次傷害,這一客觀存在的因素制約著紡織技術(shù)的進(jìn)一步提高。基于以上現(xiàn)狀,針對地面清潔機(jī)器人在清掃過程中引起的二次污染問題,構(gòu)建了以地面除塵設(shè)備為主、空中除塵設(shè)備為輔的空地相結(jié)合的紡織廠除塵系統(tǒng)。該系統(tǒng)采用“地車-空飛”的工作模式,將空中的四旋翼飛行器和地面清潔機(jī)器人兩種不同種類的移動(dòng)機(jī)器人組成異構(gòu)移動(dòng)機(jī)器人協(xié)作系統(tǒng),并通過信息共享和行為協(xié)調(diào)機(jī)制,實(shí)現(xiàn)“空-地”間的協(xié)同配合,實(shí)現(xiàn)最大程度地有效除塵,從而達(dá)到降低二次污染目的。針對系統(tǒng)作業(yè)需求,研究了主除塵器和副除塵器的硬件結(jié)構(gòu)以及芯片的選型方案;為實(shí)現(xiàn)“空-地”機(jī)器人之間的信息共享和行為協(xié)調(diào),構(gòu)建了“空-地”除塵系統(tǒng)的協(xié)作平臺(tái);將“空-地”除塵系統(tǒng)的運(yùn)動(dòng)規(guī)劃問題分為兩個(gè)階段:第一階段,準(zhǔn)備階段。通過對地面主除塵器和空中副除塵器的運(yùn)動(dòng)學(xué)分析,引入三次樣條多項(xiàng)式規(guī)劃四旋翼飛行器跟蹤地面清潔機(jī)器人的軌跡,同時(shí),選擇四旋翼飛行器的航向和位置為控制變量,利用變分哈密頓和歐拉-拉格朗日方程快速生成最優(yōu)解,設(shè)計(jì)最佳軌跡控制器,實(shí)現(xiàn)副除塵器到達(dá)地面移動(dòng)目標(biāo)上空固定高度的最佳軌跡控制;第二階段,除塵階段。除塵任務(wù)開始后,四旋翼飛行器以恒定的高度飛行,并與地面清潔機(jī)器人保持一定水平距離,在跟蹤控制器的作用下,跟蹤地面清潔機(jī)器人的軌跡。根據(jù)系統(tǒng)中目標(biāo)跟蹤的要求和基本條件,采用李雅普諾夫第二法設(shè)計(jì)目標(biāo)跟蹤控制器。通過MATLAB軟件對最優(yōu)軌跡控制算法和目標(biāo)跟蹤控制器進(jìn)行仿真。仿真結(jié)果表明,空中副除塵器能快速飛行至地面移動(dòng)目標(biāo)上空的固定高度,能有效跟蹤地面主除塵器的軌跡。
[Abstract]:With the progress of modern textile technology and the development of scale production line, the requirement of textile technology to the environment is increasing day by day. As we all know, textile technology is a highly polluting process, different production processes and equipment will produce a large amount of dust. If the textile mill does not take measures to remove dust, dust and a large amount of dust-bearing air will spread widely, which will seriously pollute the workshop and the surrounding environment, directly endanger the health of the workers and directly affect the quality of the products. The average dust concentration of most textile workshops in China is below 2.0mg/m3, which basically conforms to the national minimum emission standard. However, in the process of cleaning, handling and storage, some dusts which have not been completely cleaned are diffused again under the action of external force, which causes secondary injury to equipment and personnel. This objective existing factor restricts the further improvement of textile technology. Based on the above situation, aiming at the secondary pollution caused by the ground cleaning robot in the cleaning process, the dust removal system of textile mill is constructed, which is composed of ground dust removal equipment and air dust removal equipment. The system adopts the mode of "ground vehicle and air flight". Two different kinds of mobile robots are composed of four rotors and cleaning robots in the air, and the cooperation system of heterogeneous mobile robots is made up of information sharing and behavior coordination mechanism. In order to achieve the goal of reducing secondary pollution, the cooperation between air and ground can be realized, and the dust removal can be achieved to the greatest extent. In order to realize the information sharing and behavior coordination among the "space-ground" robots, the hardware structure of the main precipitator and the secondary precipitator and the selection of the chip are studied in order to meet the operational requirements of the system. The cooperative platform of "air-ground" dust removal system is constructed, and the motion planning of "air-ground" dust removal system is divided into two stages: the first stage and the preparation stage. Based on the kinematics analysis of the ground main dust collector and the air auxiliary dust collector, the cubic spline polynomial is introduced to plan the track of the four rotors to track the ground cleaning robot. At the same time, the course and position of the four rotors are selected as the control variables. By using variational Hamiltonian and Euler-Lagrangian equations, the optimal solution is generated quickly, and the optimal trajectory controller is designed to realize the optimal trajectory control of the secondary precipitator to the fixed altitude above the moving target on the ground; the second stage is the dust removal stage. After the dust removal task began, the four-rotor aircraft flew at a constant altitude and kept a certain horizontal distance from the ground cleaning robot, and tracked the track of the ground cleaning robot under the action of the tracking controller. According to the requirements and basic conditions of target tracking in the system, the second method of Lyapunov is used to design the target tracking controller. The optimal trajectory control algorithm and target tracking controller are simulated by MATLAB software. The simulation results show that the air pair precipitator can quickly fly to the fixed altitude above the moving target on the ground and can effectively track the track of the main dust collector on the ground.
【學(xué)位授予單位】：武漢紡織大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TS108;TP242

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