多自由度运动模拟器动力学建模及控制研究

发布时间：2018-06-29 05:33

本文选题：运动模拟器 + 多自由度　；参考：《哈尔滨工程大学》2011年硕士论文

【摘要】：随着自动化技术和机械加工技术的进一步发展,许多国家都很重视多自由度运动模拟器的研究,多自由度运动模拟器应用于模拟飞行器及船舶等的摇摆运动,它的动力学以及控制方法的研究,一方面有利于运动模拟器的设计和制造,另一方面可以直接应用于实际运动模拟实验。它的发展水平标志着一个国家航空、航天、航海、路面运输及战车性能等方面的发达程度。本文研究的是多自由度运动模拟器,该运动模拟器由三轴转台和六自由度并联运动模拟器组成。六自由度并联运动模拟器可以实现空间的六自由度运动,三轴转台的外框、中框和内框可以实现无限制转动,利用三轴转台可以达到六自由度并联运动模拟器不能达到的空间,这样的组合可以延伸到空间的任何位置,从而弥补了以上两种运动模拟器单一运动时的范围限制,使得此项研究更具有理论意义和实际价值。本文首先对运动模拟器在国内外的发展进行了介绍,然后对六自由度并联转台和三轴转台进行运动学分析,求得其速度、加速度、角速度和角加速度,之后利用KANE法对混合转台进行动力学建模,计算出六个液压杆的驱动力和三个轴的轴力矩,再根据并联运动模拟器动力学反解容易的特点,通过对反解得到的力进行控制,达到对其运动位姿进行控制的目的,对电机以及液压杆进行力控法的简单研究,来说明力控法的可行性与不足之处。
[Abstract]:With the further development of automation technology and machining technology, many countries attach great importance to the research of multi-degree-of-freedom motion simulator, which is used to simulate the swing motion of aircraft and ship. The research of its dynamics and control method is beneficial to the design and manufacture of motion simulator on the one hand, and can be directly applied to the actual motion simulation experiment on the other hand. Its level of development marks a country's aviation, aerospace, navigation, road transport and performance of combat vehicles and other areas of development. In this paper, a motion simulator with multiple degrees of freedom is studied. The simulator is composed of a three-axis turntable and a six-degree-of-freedom parallel motion simulator. The 6-DOF parallel motion simulator can realize the 6-DOF motion in space, the outer frame, the middle frame and the inner frame of the three-axis turntable can be rotated without restriction, and the space that can not be achieved by the 6-DOF parallel motion simulator can be achieved by using the three-axis turntable. This combination can be extended to any position of the space, thus making up for the limitation of the range of the two motion simulators in a single motion, which makes the research more theoretical and practical value. In this paper, the development of motion simulator at home and abroad is introduced, then the kinematics analysis of 6-DOF parallel turntable and three-axis turntable is carried out, and the velocity, acceleration, angular velocity and angular acceleration are obtained. Then the dynamic model of the hybrid turntable is established by using Kane method, and the driving force of six hydraulic rods and the axial torque of three axes are calculated. Then, according to the characteristics of the easy dynamic inverse solution of the parallel motion simulator, the force obtained by the inverse solution is controlled. In order to control the position and pose of the motor and the hydraulic rod, the feasibility and deficiency of the force control method are explained.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH113;O313

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