Research on Shipborne Helicopter Electric Rapid Secure Device: System Design, Modeling, and Simulation

Area of Science:

• Robotics and Automation
• Mechanical Engineering
• Control Systems

Background:

• Current Robotic systems for ship dismantling (RSD) face challenges with uncontrollable claw velocity.
• Existing systems require improved precision and efficiency in handling operations.

Purpose of the Study:

• To propose and design a novel Enhanced Robotic System for Ship Dismantling (ERSD).
• To address the issue of uncontrollable claw velocity in traditional RSD.
• To enhance the precision and safety of ship dismantling operations.

Main Methods:

• Analysis of the working characteristics of the RSD in ASIST.
• Design of the ERSD transmission system and control system.
• Integration of vector control and fuzzy adaptive PID control algorithms.
• Trajectory planning for claw capture velocity.
• Power bond graph theory for building the dynamics model and system simulation.

Main Results:

• Reduced maximum capture time by 47%.
• Reduced maximum capture velocity by 53%.
• Reduced maximum capture force by 80%.
• Demonstrated good velocity tracking performance under a 34,000 N interference load during helicopter towing.

Conclusions:

• The proposed ERSD effectively solves the uncontrollable velocity problem in RSD.
• The advanced control system ensures high precision and stability.
• The ERSD shows significant improvements in efficiency and safety for maritime operations.