六自由度电动平台控制系统设计

发布时间：2018-06-27 15:57

本文选题：故障保护系统 + 故障监控系统　；参考：《大连海事大学》2011年硕士论文

【摘要】：六自由度并联运动平台具有刚度大、便于实时控制、精度高、误差小、承载能力大等优点,是近几十年发展起来的新型产品,广泛应用于航空航天领域、汽车制造领域、船舶、医疗诊断、生物工程及民用娱乐等领域逐渐成为机器人领域的研究热点。近些年来,对于六自由度并联运动平台实时控制方法的研究引起了世界上众多学者的广泛关注。本文首先介绍了六自由度电动平台的组成机构,基于SolidWorks软件建立了三维实体模型,并建立了平台的运动学模型,采用矩阵分析方法进行六自由度运动平台的运动学反解分析,为实时控制软件的编制提供了理论依据。本文采用哈尔滨工业大学博实精密公司研制的多轴运动控制器MAC作为控制主体,基于“工控机+运动控制卡”的模式,构建了一个开放式的六自由度电动平台控制系统。基于Windows平台,采用功能模块化设计方法开发了控制软件,实现了六自由度电动平台的基本控制功能。本文介绍了六自由度电动平台控制系统的总体硬件结构及各组成部份的相关参数与功能。采用Visual C++编程语言对控制软件进行了功能开发,对主要功能模块进行了介绍。建立了六自由度电动平台的故障保护系统及故障监控系统,并详细介绍了系统组成部分及实现过程。基于六自由度电动平台控制系统,进行了相关控制运行实验。六自由度电动平台在实验过程中定位精度高、运动平稳,振动小,噪音低,故障发生时能实现可靠保护以及平台伺服系统发生故障时能够实时远程监控,从而验证了控制系统软、硬件的有效性及故障保护系统和故障监控系统的可靠性。
[Abstract]:The six-degree-of-freedom parallel motion platform has the advantages of large stiffness, convenient real-time control, high precision, small error, large bearing capacity and so on. It is a new product developed in recent decades. It is widely used in the fields of aerospace, automobile manufacturing, ships, etc. The fields of medical diagnosis, bioengineering and civil entertainment have gradually become the research hotspot in the field of robot. In recent years, the research on the real-time control method of 6-DOF parallel motion platform has attracted the attention of many scholars all over the world. In this paper, the mechanism of the six-degree-of-freedom electric platform is introduced. The three-dimensional solid model is established based on SolidWorks software, and the kinematics model of the platform is established. The inverse kinematics solution of the six-degree-of-freedom motion platform is analyzed by matrix analysis method. It provides a theoretical basis for the development of real-time control software. In this paper, the multi-axis motion controller (MAC) developed by Harbin University of Technology (Harbin University of Technology) is used as the main control body. Based on the mode of "industrial control computer motion control card", an open control system of six degrees of freedom electric platform is constructed. Based on Windows platform, the control software is developed by using functional modularization design method, and the basic control function of electric platform with six degrees of freedom is realized. This paper introduces the overall hardware structure of the control system of six degrees of freedom electric platform and the related parameters and functions of each component. The function of control software is developed with Visual C programming language, and the main function modules are introduced. The fault protection system and fault monitoring system of six degrees of freedom electric platform are established, and the system components and implementation process are introduced in detail. Based on the control system of six degrees of freedom electric platform, the related control operation experiment is carried out. The electric platform with six degrees of freedom has high positioning accuracy, stable motion, low vibration and low noise. It can realize reliable protection when the fault occurs and real-time remote monitoring when the platform servo system fails. The validity of the software and hardware of the control system and the reliability of the fault protection system and the fault monitoring system are verified.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112

【引证文献】