论文部分内容阅读
针对运载火箭推进剂加注自动对接与脱离机器人的自动上箭问题,设计了自动上箭模块控制系统.该系统通过图像处理算法为平面内的自主导引定位提供视觉信息,并通过力伺服算法辅助自动上箭平稳完成.大量模拟实验以及与真实火箭的对接实验,验证了该控制系统的可靠性及稳定性.
In order to solve the problem of automatic up-and-down of automatic docking and disengagement of rocket propellant, a control system of automatic up-pointing module is designed. The system provides visual information for autonomous guidance in plane by image processing algorithm, Assisting the automatic up-arrow to finish smoothly.A large number of simulation experiments and docking experiments with real rocket testify the reliability and stability of the control system.