一种三自由度运动平台的研究及实现
发布时间：2019-07-01 09:53
【摘要】：由于三自由度运动平台可以提供驾驶模拟器所需的主要动感特效,加之驱动关节少,性价比高等优点,在驾驶模拟器中的应用愈来愈广泛。本文即根据某型驾驶模拟器运动平台的性能指标要求,对三自由度运动平台进行研究并予以实现。 首先,论文基于空间运动机构的相关理论,确定了一种带防扭臂结构的三自由度运动平台机构;然后,以平台运动范围、电动缸工作行程、平台台面尺寸等为约束条件,以平台可控性能和平台结构尺寸的加权综合最优为目标函数,采用加速遗传算法,对该平台的机构参数进行了优化,并将优化结果运用到实际平台的设计中;其次,针对运动平台的驱动控制系统设计,提出了全数字伺服控制的方案,提高了控制系统的抗干扰能力;再次,基于空间运动机构的动力学仿真,确定了驱动系统的动力匹配;最后,基于Wince6.0操作系统,开发了一套三自由度运动平台应用软件,实现了平台系统的实时控制。调试结果表明,平台系统的各项性能指标,均满足了设计要求。本文所研究并实现的三自由度运动平台系统,已投入使用,并小批量生产。
[Abstract]:The three-degree-of-freedom motion platform can provide the main dynamic special effects required by the driving simulator, and the application of the three-degree-of-freedom motion platform is more and more extensive in the driving simulator due to the advantages of small driving joint, high cost performance and the like. In this paper, the three-degree-of-freedom motion platform is studied and realized according to the performance index requirement of the motion platform of a certain driving simulator. Firstly, based on the theory of space motion mechanism, a three-degree-of-freedom motion platform mechanism with anti-twist arm structure is determined; then, the motion range of the platform, the working stroke of the electric cylinder, the size of the table top and the like are taken as the constraint bars. By using the acceleration genetic algorithm, the mechanism parameters of the platform are optimized, and the optimization results are applied to the design of the actual platform. Secondly, the drive control system for the moving platform is set up. In this paper, the scheme of full digital servo control is put forward, the anti-interference ability of the control system is improved, and the dynamic matching of the drive system is determined based on the dynamic simulation of the space motion mechanism. Finally, a set of three-degree-of-freedom motion platform is developed based on the Wince6.0 operating system. The real-time control of the platform system is realized. The test results show that the performance indexes of the platform system meet the design requirements. The three-degree-of-freedom motion platform system studied and realized in this paper has been put into use and has been produced in small batches.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112
本文编号：2508382
[Abstract]:The three-degree-of-freedom motion platform can provide the main dynamic special effects required by the driving simulator, and the application of the three-degree-of-freedom motion platform is more and more extensive in the driving simulator due to the advantages of small driving joint, high cost performance and the like. In this paper, the three-degree-of-freedom motion platform is studied and realized according to the performance index requirement of the motion platform of a certain driving simulator. Firstly, based on the theory of space motion mechanism, a three-degree-of-freedom motion platform mechanism with anti-twist arm structure is determined; then, the motion range of the platform, the working stroke of the electric cylinder, the size of the table top and the like are taken as the constraint bars. By using the acceleration genetic algorithm, the mechanism parameters of the platform are optimized, and the optimization results are applied to the design of the actual platform. Secondly, the drive control system for the moving platform is set up. In this paper, the scheme of full digital servo control is put forward, the anti-interference ability of the control system is improved, and the dynamic matching of the drive system is determined based on the dynamic simulation of the space motion mechanism. Finally, a set of three-degree-of-freedom motion platform is developed based on the Wince6.0 operating system. The real-time control of the platform system is realized. The test results show that the performance indexes of the platform system meet the design requirements. The three-degree-of-freedom motion platform system studied and realized in this paper has been put into use and has been produced in small batches.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH112
【引证文献】
相关硕士学位论文 前1条
1 张志国;基于Windows CE嵌入式控制系统的研究与设计[D];东华大学;2013年
，本文编号：2508382
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