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  本文關鍵詞：65米射電望遠鏡副面調(diào)整控制系統(tǒng)設計與控制策略研究　出處：《燕山大學》2014年博士論文　論文類型：學位論文

  更多相關文章： 65米射電望遠鏡 Stewart并聯(lián)機構(gòu) 控制系統(tǒng) 動力學 前饋補償 回零 容錯 工作空間

【摘要】：65米射電望遠鏡采用Stewart型并聯(lián)機構(gòu)對副面位姿進行調(diào)整,以實現(xiàn)指向誤差修正和饋源轉(zhuǎn)換。針對如何提高調(diào)整機構(gòu)的穩(wěn)定性、準確性和快速性,設計了調(diào)整機構(gòu)的控制系統(tǒng)并對控制策略進行了深入的理論分析和實驗研究,主要內(nèi)容如下： 分析系統(tǒng)廣義坐標與動平臺以及驅(qū)動分支速度、加速度的映射關系,計算各構(gòu)件的偏速度和偏角速度。通過對基座運動引起的各構(gòu)件速度、加速度進行分析,得到基座運動引起的各構(gòu)件慣性力。采用具有高實時性特點的Kane方法分別對基座固定和運動情況下的調(diào)整機構(gòu)進行動力學建模,采用數(shù)值分析和Adams軟件仿真的方法,對上述兩種情況下系統(tǒng)動力學性能進行對比分析。 在PID反饋控制基礎上,設計能夠?qū)崿F(xiàn)速度、加速度和粘性摩擦力補償?shù)那梆佈a償器,并對其工作原理和穩(wěn)定性進行了分析。建立驅(qū)動分支動力學模型,通過S曲線跟蹤響應對控制系統(tǒng)性能進行驗證。使用Simulink和SimMechanics分別建立調(diào)整機構(gòu)的多軸運動控制系統(tǒng)和機構(gòu)模型,通過圓軌跡動態(tài)跟蹤對控制系統(tǒng)的跟蹤精度進行了仿真分析。 提出調(diào)整機構(gòu)姿態(tài)精度監(jiān)測方法并給出誤差超差判別公式。通過對磁尺回零和回零傳感器回零的原理進行分析,提出利用磁尺和回零傳感器相互校正實現(xiàn)零點重建的方法,并對零點重建精度進行實驗分析。根據(jù)機構(gòu)自由度數(shù)大于任務自由度數(shù)的特點,提出基于冗余自由度的調(diào)整機構(gòu)容錯策略,并分析容錯后機構(gòu)的工作空間。提出不規(guī)則工作空間邊界的數(shù)字化識別方法,以擴大機構(gòu)的工作范圍。 通過對調(diào)整機構(gòu)功能需求分析,采用模塊化思想設計包含伺服驅(qū)動單元、直線運動單元、低壓控制單元和運動控制單元的電氣控制系統(tǒng)。通過COM組件技術、ActiveX控件技術和動態(tài)鏈接庫技術設計調(diào)整機構(gòu)的軟件系統(tǒng),并利用CUDA并行計算技術進行調(diào)整機構(gòu)軌跡規(guī)劃,大大提高系統(tǒng)的實時性。建立Client/Server網(wǎng)絡控制結(jié)構(gòu),通過TCP/IP協(xié)議實現(xiàn)調(diào)整系統(tǒng)的遠程控制。 參考國標GB/T1741.2-2000中數(shù)控機床重復定位精度檢測和評定方法,提出一種包含耦合重復定位精度的并聯(lián)機構(gòu)重復定位精度測量和評定方法,并使用激光跟蹤儀對機構(gòu)的重復定位精度進行測量分析。且對驅(qū)動分支和調(diào)整機構(gòu)的動態(tài)跟蹤精度分別進行測試和分析,對基于冗余自由度的調(diào)整機構(gòu)容錯策略的可行性進行實驗驗證。
[Abstract]:The Stewart parallel mechanism is used to adjust the position and pose of the sub-plane for the 65m radio telescope to correct the pointing error and to convert the feed. The stability, accuracy and rapidity of the adjustment mechanism are improved in the light of how to improve the stability, accuracy and rapidity of the adjustment mechanism. The control system of the adjusting mechanism is designed and the control strategy is analyzed theoretically and experimentally. The main contents are as follows: The mapping relationship between the generalized coordinates of the system and the moving platform as well as the velocity and acceleration of the driving branch is analyzed. The partial velocity and the angular velocity of each component are calculated. The velocity and acceleration of each component caused by the motion of the base are analyzed. The inertial force of each component caused by the motion of the base is obtained. The Kane method with high real-time characteristics is used to model the dynamic model of the adjusting mechanism under the fixed and moving conditions of the base respectively. By using numerical analysis and Adams software simulation, the dynamic performance of the system is compared and analyzed. On the basis of PID feedback control, a feedforward compensator is designed to compensate for velocity, acceleration and viscous friction. The principle and stability of the feedforward compensator are analyzed, and the dynamic model of driving branch is established. The performance of the control system is verified by the S-curve tracking response. The multi-axis motion control system and the mechanism model of the adjusting mechanism are established by using Simulink and SimMechanics, respectively. The tracking accuracy of the control system is simulated and analyzed by circle trajectory dynamic tracking. In this paper, the attitude accuracy monitoring method of adjusting mechanism is put forward, and the discriminant formula of error overshoot is given. The principle of zero return of magnetic ruler and zero return sensor is analyzed. A method of 00:00 reconstruction using magnetic ruler and zero return sensor is proposed, and the precision of 00:00 reconstruction is analyzed experimentally. According to the characteristics that the degree of freedom of mechanism is greater than the number of freedom of task. A fault-tolerant strategy based on redundant degrees of freedom is proposed, and the workspace of the mechanism after fault tolerance is analyzed. A digital recognition method of irregular workspace boundary is proposed to enlarge the working range of the mechanism. By analyzing the functional requirements of the adjusting mechanism, the modular design includes servo drive unit and linear motion unit. The electric control system of low voltage control unit and motion control unit. The software system of adjusting mechanism is designed by COM component technology and dynamic link library technology. The CUDA parallel computing technology is used to adjust the mechanism trajectory planning, which greatly improves the real-time performance of the system. The Client/Server network control structure is established. The remote control of adjusting system is realized by TCP/IP protocol. Refer to the national standard GB/T1741.2-2000 NC machine tool repeated positioning accuracy detection and evaluation method. A method for measuring and evaluating the accuracy of repeated positioning of parallel mechanism is presented. The laser tracker is used to measure and analyze the accuracy of the repeated positioning of the mechanism, and the dynamic tracking accuracy of the driving branch and the adjusting mechanism are tested and analyzed respectively. The feasibility of the fault-tolerant strategy of the adjustment mechanism based on redundant degrees of freedom is verified experimentally.
【學位授予單位】：燕山大學
【學位級別】：博士
【學位授予年份】：2014
【分類號】：TH751;TP273

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