基于三自由度并联支撑机构的自动调平系统的研究

发布时间：2018-03-09 23:38

本文选题：并联机构　切入点：自动调平系统　出处：《江西理工大学》2012年硕士论文　论文类型：学位论文

【摘要】：自动调平系统不论是在民用设备上还是在军事国防工程上都有着重要而广泛的运用,在过去的几十年里,自动调平技术的研究始终受到人们的重视。本文基于螺旋理论及反螺旋理论的构型综合方法对2R1T两转动一平移的并联机构进行了构型综合分析,构型综合出了一系列具有非对称结构的具有2R1T三自由度的并联机构、含有球副S对称结构的2R1T三自由度的并联机构以及具有三条零终端约束的2R1T三自由度的并联机构,提出了作为自动调平系统的支撑机构所需要的并联机构的特点和要求。通过对并联支撑机构的运动学及动力学的分析计算,为自动调平系统的控制系统建立起了精确的数学模型,利用Solidworks软件和Adams软件联合建模进行运动学和动力学仿真,并对仿真结果做了分析研究。本文对自动调平系统中的液压伺服控制进行了比较完整的研究设计分析,分别对整个液压伺服系统的比较重要的元器件进行了选择及设计,建立起了液压伺服控制系统的数学模型,得到了液压伺服控制系统的传递函数,并利用Matlab软件程序进行了液压伺服控制系统的开环频率响应特性曲线仿真并对仿真结果进行了分析。本文自动调平系统的控制器采用模糊PID——Smith预估器进行自动调平控制,并在Matlab软件里进行了调平性能控制仿真,仿真实验结果表明采用模糊PID——Smith预估器控制是具有良好的调平控制效果的。
[Abstract]:Automatic leveling system is widely used in civil equipment and military defense engineering. In the past few decades, the research of automatic leveling technology has been paid more and more attention. Based on the configuration synthesis method of helical theory and inverse helical theory, the configuration of 2R1T parallel mechanism with 2R1T rotation and translation is analyzed in this paper. The configuration synthesizes a series of parallel mechanisms with asymmetric structure and 2R1T with three degrees of freedom. The characteristics and requirements of 2R1T 3-DOF parallel mechanism with S-symmetric spherical pair and 2R1T 3-DOF parallel mechanism with three zero terminal constraints are presented. By analyzing and calculating the kinematics and dynamics of the parallel support mechanism, an accurate mathematical model is established for the control system of the automatic leveling system. The kinematics and dynamics simulation is carried out by using the combined modeling of Solidworks software and Adams software. The simulation results are analyzed and studied. In this paper, the hydraulic servo control in the automatic leveling system is studied and analyzed, and the more important components of the whole hydraulic servo system are selected and designed. The mathematical model of hydraulic servo control system is established, and the transfer function of hydraulic servo control system is obtained. The open-loop frequency response curve of hydraulic servo control system is simulated by Matlab software and the simulation results are analyzed. In this paper, the controller of automatic leveling system adopts fuzzy PID--Smith predictor for automatic leveling control, and the simulation of leveling performance control is carried out in Matlab software. The simulation results show that the fuzzy PID--Smith predictor has a good leveling control effect.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112;TP273

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