Solución al problema de control de tiro antiaéreo sobre una plataforma naval empleando el modelo geométrico directo
DOI:
https://doi.org/10.25043/19098642.110Palabras clave:
Sistemas de control de tiro, modelo geométrico, modelizaciónResumen
Para hallar el modelo cinemático de un proceso o mecanismo en aplicaciones distintas a la robótica elmétodo frecuentemente usado es el diagrama de cuerpo libre y la conversión de coordenadas medianteángulos de Euler. En robótica se emplea entre otros el método de Khalil-Kleinfinger el cual permite hacerconversiones de coordenadas sobre varias articulaciones. Este artículo propone una nueva aplicaciónde este método para la solución del problema de control de tiro antiaéreo de un cañón naval. Parademostrarlo se desarrolla un modelo virtual utilizando Virtual Reality Modeling Language (VRLM) yse implementa el controlador mediante Matlab®. A partir del modelo geométrico directo se desarrolla lasolución del problema incluyendo el blanco, el sistema de detección, la plataforma, el cañón y el proyectil.El modelo desarrollado sirve como herramienta para el diseño, prueba e integración de controladorespara el cañón y el sistema de detección, para desarrollar los algoritmos de predicción de la trayectoriadel blanco y modelos del proyectil en vuelo. Los resultados obtenidos muestran que se puede construirel modelo geométrico de sistemas complejos con muchos grados de libertad de una manera precisa,metódica y fácil de comprender.Descargas
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