基于EtherCAT总线的六自由度地震模拟试验台测控系统

发布时间：2018-01-04 23:12

本文关键词：基于EtherCAT总线的六自由度地震模拟试验台测控系统　出处：《合肥工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：地震模拟试验台依据地震波运动机理模拟地震时地面的剧烈抖动、摇晃等运动形式,是研究抗震结构设计的地震工程学和训练地震时逃生技能的重要实验设备之一。本文首先在并联机构的理论基础之上,对地震模拟试验台进行了运动学、位置正、反解、工作空间等研究;提出一种基于相似性理论地震模拟试验台运动轨迹规划方法,通过建立两个平台位姿反解模型,获得两平台之间关节空间和工作空间的相似性关系,利用此关系获得六自由度地震模拟试验台驱动缸的运动方程,再现对手动模拟平台运动过程。并通过在ADAMS中建立平台的仿真模型,利用仿真实验验证两平台在关节空间和工作空间运动特性曲线相似性关系。六自由度地震模拟试验台的控制系统是试验台的研究的核心内容,本文采用基于EtherCAT总线的“PC+Beckhoff运动控制器”控制模式,构建一个开放式的地震模拟试验台测控系统。分别在Visual Studio和TwinCAT环境下进行了上、下位机的控制软件的开发。在构建六自由度地震模拟试验台的控制系统基础之上,进行了相关控制功能实验,主要包含:基于ADS上位机与PLC的通讯实验、平台的故障保护系统的可靠性实验、平台的多缸同步耦合控制实验与随机振动地震波的采集与控制实验。地震模拟试验台在运行过程中具有运行平稳、噪音小、可靠性高、灵活性高,验证六自由度地震模拟试验台在模拟地震运动和再现地震场景的可行性和可适用性。
[Abstract]:According to the motion mechanism of seismic wave, the seismic simulation test-bed simulates the motion forms of ground shaking and shaking during earthquake. It is one of the important experimental equipment to study seismic engineering of seismic structure design and to train the escape skills of earthquake. Firstly, based on the theory of parallel mechanism, the kinematics of the seismic simulation test rig is carried out. Research on position forward, inverse solution, workspace and so on; A motion trajectory planning method based on similarity theory for seismic simulation test-bed is proposed. The similarity relationship between joint space and workspace between two platforms is obtained by establishing the inverse model of pose and pose of two platforms. Using this relation, the motion equation of the driving cylinder of the six-DOF seismic simulation test-bed is obtained, and the motion process of the manual simulation platform is reproduced. The simulation model of the platform is established in ADAMS. The simulation experiments are used to verify the similarity between the kinematic curves of the two platforms in the joint space and the workspace. The control system of the six-degree-of-freedom seismic simulation test-bed is the core of the research on the test-bed. This paper adopts the control mode of "PC Beckhoff motion controller" based on EtherCAT bus. An open test and control system for seismic simulation test bench is constructed, which is carried out under the environment of Visual Studio and TwinCAT, respectively. The development of the control software of the lower computer. On the basis of constructing the control system of the six degree of freedom earthquake simulation test bench, the related control function experiments are carried out. It mainly includes: the communication experiment based on ADS PC and PLC, and the reliability experiment of the fault protection system of the platform. The multi-cylinder synchronous coupled control experiment and the random vibration seismic wave acquisition and control experiment. The seismic simulation test rig has the following characteristics: smooth operation, low noise, high reliability and high flexibility. The feasibility and applicability of six degrees of freedom seismic simulation test rig in simulating earthquake motion and reproducing seismic scene are verified.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：P315.8;TP273

【相似文献】