本文選題：六維加速度傳感器　切入點(diǎn)：并聯(lián)機(jī)構(gòu)　出處：《南京航空航天大學(xué)》2013年博士論文　論文類型：學(xué)位論文

【摘要】：生物醫(yī)學(xué)、慣性導(dǎo)航、機(jī)器人等領(lǐng)域正朝著高、精、尖的性能方向發(fā)展,迫切需要六維加速度傳感器這類能夠同時(shí)獲取載體多自由度運(yùn)動(dòng)信息的測(cè)量系統(tǒng),目前國(guó)內(nèi)外對(duì)其研究尚處于原理探索階段,主要技術(shù)瓶頸在于解耦難度與結(jié)構(gòu)復(fù)雜度之間存在矛盾。針對(duì)該現(xiàn)狀,本文提出了一種基于冗余并聯(lián)機(jī)構(gòu)的壓電式六維加速度傳感器,擁有自主知識(shí)產(chǎn)權(quán),從構(gòu)型設(shè)計(jì)、解耦算法、結(jié)構(gòu)優(yōu)化、參數(shù)辨識(shí)四個(gè)方面對(duì)其作了深入的研究和探討。提出了一種基于四面體構(gòu)型的9-SPS冗余并聯(lián)機(jī)構(gòu),運(yùn)用螺旋理論、拓?fù)淅碚摰痊F(xiàn)代機(jī)構(gòu)學(xué)理論對(duì)其展開分析,結(jié)果表明新型并聯(lián)機(jī)構(gòu)具有初始位姿空間內(nèi)零奇異、運(yùn)動(dòng)學(xué)正解封閉、冗余信息可用于處理次級(jí)噪聲、解耦特性優(yōu)越以及拓?fù)錁?gòu)型緊湊且對(duì)稱等眾多優(yōu)點(diǎn)。鑒于此,用該構(gòu)型的并聯(lián)機(jī)構(gòu)充當(dāng)六維加速度傳感器的彈性體結(jié)構(gòu),另外,壓電陶瓷同時(shí)充當(dāng)敏感元件和移動(dòng)副,彈性球鉸鏈充當(dāng)球面副。在上述方案的指導(dǎo)下設(shè)計(jì)了六維加速度傳感器的原理樣機(jī),并制作了一臺(tái)加工成本和安裝精度要求都較低的實(shí)物樣機(jī)。分別在位形空間內(nèi)運(yùn)用矢量力學(xué)方法以及在相空間內(nèi)運(yùn)用分析力學(xué)方法推導(dǎo)出系統(tǒng)的動(dòng)力學(xué)方程;在同倫思想的啟發(fā)下,通過引入輔助角速度,解決了牛頓-歐拉方程中輸入輸出量耦合程度高的問題;通過挖掘出姿態(tài)四元數(shù)與其對(duì)應(yīng)的廣義動(dòng)量之間“隱藏”著的正交關(guān)系,在不破壞原動(dòng)力學(xué)方程平衡性的前提下,解決了涉及到哈密頓約束正則方程的指標(biāo)-3問題;構(gòu)建了六維加速度傳感器的兩類解耦算法,它們均具有解耦效率高和算法適應(yīng)性強(qiáng)的優(yōu)點(diǎn)�？紤]到兩類解耦算法在數(shù)值性態(tài)上存在較大差異,從定性和定量?jī)蓚�(gè)角度進(jìn)行了全面地對(duì)比,并分析了造成兩者差異的原因,對(duì)比結(jié)果可用于指導(dǎo)傳感器在具體應(yīng)用場(chǎng)合下對(duì)解耦算法的合理選取。通過以定義出的結(jié)構(gòu)矩陣為乘子的迭代運(yùn)算,同時(shí)獲取到系統(tǒng)的基頻和一階主振型,巧妙避開傳統(tǒng)算法中需要求解高次方程的復(fù)雜工作,具有計(jì)算效率高和絕對(duì)收斂的優(yōu)點(diǎn)。通過添加關(guān)于構(gòu)型自身冗余約束關(guān)系的協(xié)調(diào)方程,解算了超靜定反向動(dòng)力學(xué)方程,從而推導(dǎo)出靈敏度關(guān)于結(jié)構(gòu)參數(shù)的解析表達(dá)式,同時(shí)得出所設(shè)計(jì)傳感器理論靈敏度各向同性的結(jié)論。提出并證明了關(guān)于誤差區(qū)間寬度的三個(gè)定理,據(jù)此揭示并量化了六維加速度傳感器的誤差傳遞關(guān)系,一定程度上拓展了區(qū)間分析法的應(yīng)用領(lǐng)域。為解決多目標(biāo)優(yōu)化過程中普遍存在的三大問題,在基頻、靈敏度及誤差傳遞模型的基礎(chǔ)上提出了一種綜合性能函數(shù),據(jù)此繪制了六維加速度傳感器的性能圖譜,對(duì)傳感器的結(jié)構(gòu)優(yōu)化以及定量評(píng)價(jià)具有較大的參考價(jià)值。通過深入剖析解耦算法中間參量的形成機(jī)理后發(fā)現(xiàn),在線閾頻和角閾頻之下分別激勵(lì)外殼做純線運(yùn)動(dòng)和純角運(yùn)動(dòng)時(shí),系統(tǒng)動(dòng)力學(xué)方程可以簡(jiǎn)化成只關(guān)于部分解耦參數(shù)的線性代數(shù)方程。據(jù)此提出了一種可用于對(duì)并聯(lián)式六維加速度傳感器的25個(gè)解耦參數(shù)實(shí)施分組辨識(shí)的“四步法”�？紤]到目前市場(chǎng)上還沒有能夠與“四步法”相匹配的外部激勵(lì)設(shè)備,研制了基于雙曲柄滑塊機(jī)構(gòu)的新型試驗(yàn)平臺(tái),且同樣擁有自主知識(shí)產(chǎn)權(quán)。將傳感器實(shí)物樣機(jī)安裝在試驗(yàn)平臺(tái)上,并運(yùn)用自行開發(fā)的虛擬儀器控制參數(shù)辨識(shí)試驗(yàn)的全過程。試驗(yàn)結(jié)果顯示,參數(shù)辨識(shí)之后解耦誤差降低了1個(gè)數(shù)量級(jí),表明“四步法”是有效的、可行的。最后,通過軟件仿真和樣機(jī)試驗(yàn)驗(yàn)證了本文所提出設(shè)計(jì)方案的合理性以及所建立運(yùn)動(dòng)學(xué)模型、動(dòng)力學(xué)模型的可靠性。本文解決了六維加速度傳感器研制過程中涉及到的一些關(guān)鍵技術(shù)問題,為促進(jìn)其儀器化、實(shí)用化進(jìn)程奠定了理論基礎(chǔ);同時(shí),通過對(duì)研究結(jié)果的進(jìn)一步擴(kuò)展或修正,還可為其它類型多維傳感器的設(shè)計(jì)及分析提供理論指導(dǎo)。
[Abstract]:Biomedical, inertial navigation, robotics and other fields toward the high, fine, sharp direction of performance development, the urgent need of six axis accelerometer measurement system which can obtain the support of multi degree of freedom motion information, current research at home and abroad for its principle is still in the stage of exploration, the main technical bottleneck lies in the difficulty and complicated structure decoupling between the degree of conflict. Aiming at this situation, this paper proposes a redundant parallel mechanism of piezoelectric six axis accelerometer based on independent intellectual property rights, from the configuration design, decoupling algorithm, structure optimization, parameter identification of four aspects of the in-depth study and discussion. This paper proposes a redundant parallel 9-SPS mechanism of tetrahedral configuration based on the use of screw theory, topological theory and other modern mechanism theory to analyze the results show that the new parallel mechanism with initial pose space zero singular Closed, kinematics, redundant information can be used to treat the secondary noise, many excellent characteristics and advantages of decoupling topology is compact and symmetrical. In view of this, as the elastic body structure of six axis accelerometer with the configuration of the parallel mechanism in addition, piezoelectric ceramics also act as the sensitive element and the mobile side, elastic ball as spherical hinge deputy. In this program under the guidance of the principle prototype design of six axis accelerometer, and produced a prototype of a machining cost and installation accuracy requirements are lower in vector mechanics respectively. Using the space and using the kinetic equations of analytical mechanics method to derive the system in phase space; inspired homotopy thought, by introducing an auxiliary angular velocity, solve the input and output of the high degree of coupling problem of Newton Euler equations; through mining four yuan and the number of attitude The orthogonal relationship between "generalized momentum should be hidden, without destroying the original balance of kinetic equation, solving the Hamiltonian constraint equation involves regular index -3; constructed two decoupling algorithms for six dimensional acceleration sensor, has high efficiency and decoupling algorithm adaptability they consider. Two decoupling algorithms are quite different in the value condition, make a comprehensive comparison from two aspects of qualitative and quantitative, and then analyzes the causes of the difference, the results can be used to guide the sensor in the specific applications of decoupling algorithm. Through the reasonable selection of structure matrix to define the multiplication the iterative operation, and access to the system of fundamental frequency and first order vibration mode, cleverly avoiding complex work need high equation in the traditional algorithm has high computational efficiency and absolute convergence. The advantages. By adding the coordination equation about the configuration of its redundant constraints, calculated indeterminate reverse kinetic equation, analytical expressions to derive the sensitivity of structure parameters, at the same time that the design theory of sensor sensitivity isotropy. The conclusion presents and proves three theorems about the error interval width, can be revealed and quantified six axis accelerometer error transfer relationship to a certain extent, expand the application field of interval analysis. Three main problems exist, to solve multi-objective optimization in the process of fundamental frequency, sensitivity and error transfer based on the model proposed an integrated performance function, thus draw the performance atlas of six axis accelerometer, which is valuable for the structure optimization of sensor and quantitative evaluation. Through in-depth analysis of the formation of intermediate parameter decoupling algorithm The mechanism that online under the threshold frequency and angle threshold frequency were pure line movement and shell excitation of pure angular motion, dynamic equations of the system can be simplified into only on the part of decoupling parameter of linear algebraic equations. It can be used to propose a 25 decoupling parameter of parallel type six axis accelerometer packet identification the "four step". Considering the present outside the market has not been able to match with the "four step" incentive device, developed a new test platform based on double crank mechanism, and also has independent intellectual property rights. The prototype sensor installed on the test platform, the whole process is developed by using virtual instrument control the parameter identification test. The test results show that the parameter identification after decoupling error is reduced by 1 orders of magnitude, that the "four step" is effective and feasible. Finally, through the simulation software The prototype test and verify that the rationality of the design scheme and the kinematics model, kinetics model. This paper solves some key technical problems of the six axis accelerometer development involved in the process, in order to promote its instruments, practical process laid a theoretical foundation; at the same time, through further expansion or modification the results of the study, but also provide theoretical guidance for the design and analysis of other types of multi sensors.

【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2013
【分類號(hào)】：TP212
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本文編號(hào)：1589213