Motion control method of jet device based on target drive

A jet device and target-driven technology, applied in the field of ships, can solve the problems of low accuracy and complicated calculation of the motion control of the jet device, and achieve the effects of reducing the computational complexity, reducing the calculation steps, and avoiding mathematical modeling.

Active Publication Date: 2022-08-02
安徽恒为信息科技有限公司
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Problems solved by technology

[0011] The present invention provides a target-driven fluidic device motion control method, which is used to solve the defects of complex calculation and low accuracy in the motion control of the fluidic device in the prior art, and realize efficient and accurate fluidic motion control

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  • Motion control method of jet device based on target drive
  • Motion control method of jet device based on target drive
  • Motion control method of jet device based on target drive

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[0051] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0052] In view of the above problems, an embodiment of the present invention provides a method for solving the kinematics of a jet device based on a target drive for a jet device. This method uses a geometric method to calculate the yaw angle of the barrel, and uses a target-driven neural network fitting method to calculate Elevation angle of the gun barrel.

[0053] Using this method, the angle θ required to rota...

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Abstract

The invention provides a motion control method of a jet device based on target driving, the method comprising: obtaining the abscissa and ordinate of the target in the coordinate system of the jet body; obtaining the yaw angle of the jet body according to the abscissa and the ordinate; The horizontal distance between the target and the jet body is input into the pitch angle prediction model to obtain the pitch angle of the jet body. The pitch angle prediction model is trained with the horizontal distance as the sample and the actual pitch angle as the label; For the pitch angle, the inverse kinematics is solved for the jet body, the rotation angle of the motor in the jet body is obtained, and the jet body is controlled to hit the target according to the rotation angle. The method proposed by the invention not only reduces the calculation steps of inverse kinematics solution, but also avoids the complicated mathematical modeling of the jet by using the neural network technology, and achieves the purpose of simplifying the calculation process and reducing the calculation complexity.

Description

technical field [0001] The invention relates to the technical field of ships, in particular to a motion control method of a jet device driven by a target. Background technique [0002] The conventional inverse kinematics problem of a manipulator means that the 6D pose of the end of the manipulator is known, and the rotation angles of all the joints of the manipulator are obtained. There are usually four methods to solve the inverse kinematics of the manipulator: analytical method, geometric method, iterative method and optimization method. The analytical method multiplies the inverse of a series of transformation matrices on the left side of each equation, then examines the elements on the right side of the equation, finds those that are zero or constant, and makes these elements equal to the elements at the corresponding positions on the left side to produce a valid trigonometric equation, and then solve the trigonometric equation. The geometric method first analyzes the ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/15G06F30/17G06F30/27G06F119/14
Inventor 纪文龙林云汉陈姚节
Owner 安徽恒为信息科技有限公司
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