The invention provides a method for capturing a quick clamping device of a shipborne helicopter, which comprises the following steps of: S1, detecting a capturing stroke according to a displacement sensor, and executing S2; s2, performing stroke judgment on the capture stroke, and executing S3 when the capture stroke is a short stroke; when the capture stroke is a medium stroke or a long stroke, executing S4; s3, when the mechanical arm accelerates to the rated speed, a first working condition strategy is executed; s4, the buffer time and the constant-speed motion buffer length of each stage are set according to the medium stroke or the long stroke, and S5 is executed; s5, according to the buffer time and the constant-speed motion buffer length of each stage, calculating each stage buffer starting point displacement of the corresponding speed of each stage, and executing S6; s6, real-time displacement monitoring is conducted on the mechanical arm, the real-time speed of the mechanical arm is obtained, and S7 is executed; and S7, executing a corresponding braking strategy according to the buffer point judgment and the inter-buffer judgment. According to the invention, good control precision and stability of brake displacement can be ensured, and the brake pressure impact of the system can be effectively inhibited.
本发明提供一种船载直升机快速夹持装置捕获方法,包括如下步骤:S1、根据位移传感器检测捕获行程,执行S2;S2、对捕获行程进行行程判定,当捕获行程为短行程时,执行S3;当捕获行程为中行程或长行程时,执行S4;S3、当机械臂加速至额定速度,执行工况一策略;S4、根据中行程或长行程设置各阶段的缓冲时间和匀速运动缓冲长度,执行S5;S5、根据各阶段的缓冲时间和匀速运动缓冲长度求得各阶段对应速度的各阶段缓冲起点位移,执行S6;S6、对机械臂进行实时位移监测得到机械臂实时速度,执行S7;S7、根据缓冲点判定和缓冲区间判定执行相应的制动策略。本发明不仅可以保证制动位移具有良好的控制精度和稳定性,还可以有效抑制系统的制动压力冲击。
Capturing method for fast clamping device of shipborne helicopter
船载直升机快速夹持装置捕获方法
2024-11-15
Patent
Electronic Resource
Chinese
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