【摘要】：隨著科學(xué)技術(shù)的飛速發(fā)展，傳統(tǒng)的機(jī)械、儀器正在向著高速、重載、輕型、小型化和精密化的方向發(fā)展。高質(zhì)量、高效率的機(jī)械和儀器對(duì)其動(dòng)態(tài)精度提出了越來越高的要求。而在機(jī)械設(shè)備的設(shè)計(jì)、制造、安裝、磨損和測(cè)量的過程中都會(huì)產(chǎn)生誤差，機(jī)構(gòu)的運(yùn)動(dòng)副中的間隙的存在是造成誤差的重要原因。過大的間隙不僅大大地降低機(jī)構(gòu)的運(yùn)動(dòng)精度，而且會(huì)引起運(yùn)動(dòng)副的沖擊，出現(xiàn)過大的彈性變形，加速構(gòu)件磨損，使間隙量變得更大，產(chǎn)生過大的噪聲，降低機(jī)械效率。如果人為的減小間隙，這不僅會(huì)產(chǎn)生機(jī)構(gòu)卡死的可能性，影響機(jī)器的使用壽命，，降低機(jī)器的可靠性，而且還增加了控制難度。因此,對(duì)于實(shí)際系統(tǒng)間隙的研究是非常有必要的。為了研究運(yùn)動(dòng)副間隙的存在對(duì)機(jī)構(gòu)的穩(wěn)定性產(chǎn)生的影響，本文分別采用了動(dòng)力學(xué)分析和BP神經(jīng)網(wǎng)絡(luò)的方法,通過用Simulink仿真平臺(tái),以含間隙曲柄滑塊機(jī)構(gòu)為例建立了數(shù)學(xué)模型，并分別對(duì)其建立逆模型，在分析機(jī)構(gòu)誤差后分別進(jìn)行了有逆模前饋的開環(huán)控制、PID加逆模前饋的閉環(huán)控制以及神經(jīng)網(wǎng)絡(luò)內(nèi)模控制和模糊控制的方法來控制間隙帶來的非線性誤差。實(shí)驗(yàn)結(jié)果表明:含間隙機(jī)構(gòu)由于間隙的存在，與理想機(jī)構(gòu)的穩(wěn)定性相比較差；用傳統(tǒng)的動(dòng)力學(xué)分析的方法建立的模型和用BP神經(jīng)網(wǎng)絡(luò)所建的模型相比，由于含間隙機(jī)構(gòu)的強(qiáng)非線性，利用神經(jīng)網(wǎng)絡(luò)所建的模型更接近曲柄滑塊機(jī)構(gòu)的實(shí)際情況，仿真速度更快，結(jié)果更有意義；比起傳統(tǒng)的有逆模前饋的開環(huán)控制、PID加逆模前饋的閉環(huán)控制，用神經(jīng)網(wǎng)絡(luò)內(nèi)模控制和模糊控制兩種智能控制更加有效的減小了間隙帶來的非線性誤差，使得系統(tǒng)的穩(wěn)定性更高。
[Abstract]:With the rapid development of science and technology, traditional machinery and instruments are developing towards high speed, heavy load, light, miniaturization and precision. High-quality and high-efficiency machines and instruments require higher dynamic accuracy. In the process of design, manufacture, installation, wear and measurement of mechanical equipment, errors will occur, and the existence of clearance in the kinematic pair of the mechanism is an important cause of the errors. The excessive clearance not only reduces the motion accuracy of the mechanism greatly, but also causes the impact of the motion pair, causes the excessive elastic deformation, accelerates the wear of the components, makes the clearance quantity become larger, produces too much noise, and reduces the mechanical efficiency. If the gap is reduced artificially, it will not only lead to the possibility of mechanism jam, affect the service life of the machine, reduce the reliability of the machine, but also increase the difficulty of control. Therefore, it is necessary to study the actual system gap. In order to study the influence of the clearance on the stability of the mechanism, the dynamic analysis and the BP neural network are used in this paper. The mathematical model is established by using the Simulink simulation platform and taking the crank slider mechanism with clearance as an example. The inverse model is established, and the open-loop control with inverse mode feedforward is carried out after analyzing the error of the mechanism. PID with inverse mode feedforward closed-loop control and neural network internal model control and fuzzy control method to control the gap caused by nonlinear error. The experimental results show that the stability of the mechanism with clearance is worse than that of the ideal mechanism because of the existence of clearance. Compared with the model built by BP neural network, the model established by the traditional dynamic analysis method is closer to the actual situation of crank slider mechanism because of the strong nonlinearity of the mechanism with clearance. The simulation speed is faster and the result is more meaningful. Compared with the traditional open-loop control with inverse mode feedforward, the closed loop control with PID plus inverse mode feedforward is more effective in reducing the nonlinear error caused by the gap by using neural network internal model control and fuzzy control. Makes the system more stable.
【學(xué)位授予單位】：南華大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：TH112

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