六自由度运动系统的模态空间解耦控制器的适用性研究

发布时间：2018-04-01 09:07

本文选题：六自由度运动系统　切入点：动力学耦合　出处：《哈尔滨工业大学》2012年硕士论文

【摘要】：液压驱动的六自由度运动系统是飞行模拟机的载体，系统运动学和动力学的强耦合性，给通过控制方式来发掘系统的应用潜能的研究带来了很大的难度。模态空间解耦控制是一种基于动力学耦合补偿原理并且在理论上仅适用于粘性比例阻尼系统的控制方式，对其在非粘性比例阻尼系统适用性的研究是为了扩宽控制器的适用范围，对动力学性耦合的深入研究必将促进多自由度系统液压控制理论的新发展。本文首先对六自由度运动系统进行了运动学和动力学分析，将主动关节和被动关节的摩擦力都考虑在内，尤其是以往忽略的被动关节的摩擦力，用Kane法得到了系统完整的多刚体动力学方程的解析式，并且推导了液压驱动系统的传递函数，驱动系统与动力系统结合得到了系统的整体动力学模型。然后，介绍了所要研究的模态解耦控制器设计的理论依据，对多自由度运动系统模态分析的方法做了简单介绍，根据系统的结构和惯性参数，求得了系统在中位时的惯性矩阵，刚度矩阵，以及模态矩阵的数值解，，最后对阻尼矩阵分情况做了分析，并根据非粘性比例阻尼系统的判定依据，得到了一个系统非粘性比例阻尼程度的数值化的判定指标。最后，建立了包括在Simulink里的控制系统模型，AMEsim里的液压系统模型，以及SimMechanics里的动力学模型的集成联合仿真模型，分析了系统在不同阻尼情况下的各个自由度频率响应以及耦合性，分析得出模态空间解耦控制器在粘性比例阻尼系统下的适用性良好，但是在非粘性比例阻尼程度较大的情况下已经不再适用。
[Abstract]:The six degrees of freedom motion system driven by hydraulic pressure is the carrier of the flight simulator. The kinematics and dynamics of the system are strongly coupled. It is very difficult to explore the application potential of the system by means of control mode. Modal space decoupling control is a control method based on the principle of dynamic coupling compensation and is only suitable for viscous proportional damping system in theory. The study of its applicability in non-viscous proportional damping systems is aimed at broadening the scope of application of the controller. The further study of dynamic coupling will promote the new development of hydraulic control theory for multi-degree-of-freedom systems. In this paper, the kinematics and dynamics of 6-DOF motion system are analyzed firstly. The friction force of active and passive joints is taken into account, especially the friction force of passive joints, which was neglected in the past. By using the Kane method, the analytical formula of the system's complete multi-rigid body dynamics equation is obtained, and the transfer function of the hydraulic drive system is derived. The whole dynamic model of the system is obtained by combining the driving system with the dynamic system. Then, the theoretical basis of the design of modal decoupling controller is introduced, and the method of modal analysis of multi-degree-of-freedom motion system is simply introduced, according to the structure of the system and inertia parameters, The numerical solutions of the inertia matrix, stiffness matrix and modal matrix of the system in the middle position are obtained. Finally, the damping matrix is analyzed, and the judgment basis of the non-viscous proportional damping system is given. A numerical criterion for the degree of non-viscous proportional damping of the system is obtained. Finally, the hydraulic system model including the control system model in Simulink and the integrated joint simulation model of dynamic model in SimMechanics are established. The frequency response and coupling of various degrees of freedom in different damping conditions of the system are analyzed. It is concluded that the modal space decoupling controller is suitable for viscous proportional damping system. However, it is no longer applicable in the case of non-viscous proportional damping.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH137;V416.8

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