天堂国产午夜亚洲专区-少妇人妻综合久久蜜臀-国产成人户外露出视频在线-国产91传媒一区二区三区

當前位置:主頁 > 科技論文 > 機械論文 >

六自由度運動系統(tǒng)的模態(tài)空間解耦控制器的適用性研究

發(fā)布時間:2018-04-01 09:07

  本文選題:六自由度運動系統(tǒng) 切入點:動力學耦合 出處:《哈爾濱工業(yè)大學》2012年碩士論文


【摘要】:液壓驅動的六自由度運動系統(tǒng)是飛行模擬機的載體,系統(tǒng)運動學和動力學的強耦合性,給通過控制方式來發(fā)掘系統(tǒng)的應用潛能的研究帶來了很大的難度。模態(tài)空間解耦控制是一種基于動力學耦合補償原理并且在理論上僅適用于粘性比例阻尼系統(tǒng)的控制方式,對其在非粘性比例阻尼系統(tǒng)適用性的研究是為了擴寬控制器的適用范圍,對動力學性耦合的深入研究必將促進多自由度系統(tǒng)液壓控制理論的新發(fā)展。 本文首先對六自由度運動系統(tǒng)進行了運動學和動力學分析,將主動關節(jié)和被動關節(jié)的摩擦力都考慮在內,尤其是以往忽略的被動關節(jié)的摩擦力,用Kane法得到了系統(tǒng)完整的多剛體動力學方程的解析式,并且推導了液壓驅動系統(tǒng)的傳遞函數,驅動系統(tǒng)與動力系統(tǒng)結合得到了系統(tǒng)的整體動力學模型。 然后,介紹了所要研究的模態(tài)解耦控制器設計的理論依據,對多自由度運動系統(tǒng)模態(tài)分析的方法做了簡單介紹,根據系統(tǒng)的結構和慣性參數,求得了系統(tǒng)在中位時的慣性矩陣,剛度矩陣,以及模態(tài)矩陣的數值解,,最后對阻尼矩陣分情況做了分析,并根據非粘性比例阻尼系統(tǒng)的判定依據,得到了一個系統(tǒng)非粘性比例阻尼程度的數值化的判定指標。 最后,建立了包括在Simulink里的控制系統(tǒng)模型,AMEsim里的液壓系統(tǒng)模型,以及SimMechanics里的動力學模型的集成聯合仿真模型,分析了系統(tǒng)在不同阻尼情況下的各個自由度頻率響應以及耦合性,分析得出模態(tài)空間解耦控制器在粘性比例阻尼系統(tǒng)下的適用性良好,但是在非粘性比例阻尼程度較大的情況下已經不再適用。
[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.
【學位授予單位】:哈爾濱工業(yè)大學
【學位級別】:碩士
【學位授予年份】:2012
【分類號】:TH137;V416.8

【參考文獻】

相關期刊論文 前8條

1 楊尚平,吳張永,楊曉玉,馬駿騎;粘性阻尼系數的動態(tài)測試法[J];機床與液壓;2005年01期

2 宋國峰;程忠濤;袁立鵬;任勇;程忠志;;運動模擬器及其運動平臺系統(tǒng)的發(fā)展現狀及應用前景[J];機械設計與制造;2008年06期

3 劉鵬;薛偉琪;許滸;;反饋系統(tǒng)中PID控制器特性分析[J];空間電子技術;2011年03期

4 張旭;裴忠才;;液壓六自由度并聯機器人的控制系統(tǒng)研究[J];流體傳動與控制;2008年05期

5 趙強,閻紹澤;雙端虎克鉸型六自由度并聯機構的動力學模型[J];清華大學學報(自然科學版);2005年05期

6 楊灝泉,趙克定,吳盛林,曹健;飛行模擬器六自由度運動系統(tǒng)的關鍵技術及研究現狀[J];系統(tǒng)仿真學報;2002年01期

7 于暉,孫立寧,張秀峰,蔡鶴皋;虎克鉸工作空間研究及其在6-HTRT并聯機器人中的應用[J];中國機械工程;2002年21期

8 陳峰,趙錫芳,殷躍紅;Stewart型并聯機器人的腿部分析[J];組合機床與自動化加工技術;2003年05期



本文編號:1694873

資料下載
論文發(fā)表

本文鏈接:http://www.sikaile.net/kejilunwen/jixiegongcheng/1694873.html


Copyright(c)文論論文網All Rights Reserved | 網站地圖 |

版權申明:資料由用戶75305***提供,本站僅收錄摘要或目錄,作者需要刪除請E-mail郵箱bigeng88@qq.com