六自由度振动平台的位姿解算与路谱模拟分析

发布时间：2018-02-27 00:35

本文关键词： 六自由度振动平台旋转矩阵位姿反解路谱模拟　出处：《机床与液压》2017年15期 　论文类型：期刊论文

【摘要】：在自主设计的六自由度振动平台上,通过模拟车辆的实际运行来检测车辆座椅的减振性能,路谱模拟实验和仿真结果分析表明,该六自由振动平台能够应用于车辆座椅性能的检测。计算了振动平台各姿态的欧拉角,分析其在任意时刻的旋转矩阵,并推导出振动平台位姿的反解方程,并用此方法进行车辆路谱的模拟。在此基础之上,对旋转矩阵算法进一步优化,并借助PROE仿真软件分析了两种旋转矩阵算法的误差,仿真结果显示:优化后的算法使振动平台上3个测点的最大误差均值由2.3μm缩小到0.709μm。
[Abstract]:In the self-designed six degrees of freedom vibration platform, the vibration absorption performance of the vehicle seat is tested by simulating the actual operation of the vehicle. The road spectrum simulation experiment and the simulation results show that, The six free vibration platform can be used to detect the performance of vehicle seat. The Euler angle of each attitude of the vibration platform is calculated, the rotation matrix of the vibration platform is analyzed at any time, and the inverse solution equation of the position and pose of the vibration platform is derived. On the basis of this method, the rotation matrix algorithm is further optimized, and the error of the two rotation matrix algorithms is analyzed with the help of PROE simulation software. The simulation results show that the optimized algorithm can reduce the maximum error mean of three measuring points from 2.3 渭 m to 0.709 渭 m.
【作者单位】：东北大学机械工程与自动化学院;
【基金】：辽宁重大装备制造协同创新中心资助项目(03220075115001)
【分类号】：TB534.2

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