本文選題：并聯(lián)機(jī)構(gòu)　切入點(diǎn)：六維力加載　出處：《哈爾濱工業(yè)大學(xué)》2015年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：航天器在太空飛行過(guò)程中,空間對(duì)接機(jī)構(gòu)起到了連接各艙體的至關(guān)重要的作用。為了維持航天器穩(wěn)定的飛行狀態(tài),空間對(duì)接機(jī)構(gòu)組合體將會(huì)長(zhǎng)時(shí)間承受多個(gè)自由度方向的力和力矩。為了保證對(duì)接機(jī)構(gòu)組合體在軌運(yùn)行時(shí)的可靠性,在對(duì)空間對(duì)接機(jī)構(gòu)的設(shè)計(jì)過(guò)程中,需要在地面進(jìn)行對(duì)接機(jī)構(gòu)組合體多自由度加載疲勞測(cè)試。本課題以對(duì)接機(jī)構(gòu)組合體疲勞壽命試驗(yàn)臺(tái)項(xiàng)目為依托,對(duì)并聯(lián)多自由度力加載試驗(yàn)系統(tǒng)進(jìn)行了研究。不同于以往大多數(shù)的多維力加載系統(tǒng),本文的創(chuàng)新之處首先在于設(shè)計(jì)并驗(yàn)證了一個(gè)全新的并聯(lián)加載結(jié)構(gòu),并設(shè)計(jì)了基于驅(qū)動(dòng)力閉環(huán)的控制方法,通過(guò)反解對(duì)接機(jī)構(gòu)組合體受到的力和力矩,求出各加載液壓作動(dòng)器所要輸出的力,通過(guò)精確控制各加載液壓作動(dòng)器的輸出力來(lái)實(shí)現(xiàn)對(duì)接機(jī)構(gòu)組合體的疲勞加載;本文另外一個(gè)創(chuàng)新點(diǎn)為通過(guò)仿真軟件分析了負(fù)載剛度變化對(duì)多自由度加載系統(tǒng)的加載性能的影響,并且模擬了加載系統(tǒng)加載力的耦合特性,對(duì)科研項(xiàng)目以及工程實(shí)踐具有指導(dǎo)性的意義。本文首先介紹了基于正交六自由度并聯(lián)平臺(tái)的多軸加載系統(tǒng)的基本構(gòu)造以及加載原理。根據(jù)性能指標(biāo)要求所設(shè)計(jì)的這種正交并聯(lián)機(jī)構(gòu)可以同時(shí)向?qū)訖C(jī)構(gòu)組合體精確施加給定的六個(gè)自由度的力和力矩。其次,針對(duì)所采用的加載機(jī)構(gòu)的機(jī)械結(jié)構(gòu),建立了加載系統(tǒng)的運(yùn)動(dòng)學(xué)模型,然后進(jìn)一步求解出了其動(dòng)力學(xué)方程,并且利用Matlab Simulink軟件建立了多自由度加載系統(tǒng)的六維力和力矩的反解模型。之后,本文對(duì)加載液壓作動(dòng)器力閉環(huán)系統(tǒng)進(jìn)行了建模和分析,建立了閥控液壓缸驅(qū)動(dòng)力閉環(huán)系統(tǒng)的詳細(xì)模型,并對(duì)力閉環(huán)系統(tǒng)進(jìn)行了仿真分析。設(shè)計(jì)了單缸力閉環(huán)控制器以提高驅(qū)動(dòng)力閉環(huán)控制系統(tǒng)的穩(wěn)定性。為了建立本文所研究的并聯(lián)加載系統(tǒng)的完整模型,本文利用動(dòng)力學(xué)仿真軟件ADAMS對(duì)加載系統(tǒng)的機(jī)械系統(tǒng)進(jìn)行了建模,并且利用模擬負(fù)載代替對(duì)接機(jī)構(gòu)進(jìn)行仿真分析。最后利用Matlab軟件和ADAMS軟件對(duì)所研究的并聯(lián)六維力加載系統(tǒng)進(jìn)行了聯(lián)合仿真分析。實(shí)現(xiàn)了該并聯(lián)多軸加載系統(tǒng)的靜態(tài)和動(dòng)態(tài)加載仿真,并且分析了對(duì)接機(jī)構(gòu)剛度的變化對(duì)整個(gè)系統(tǒng)的影響,分析了該并聯(lián)多軸加載系統(tǒng)各自由度間力耦合特性,為今后的力解耦控制研究奠定了一定的基礎(chǔ)。
[Abstract]:During the space flight, the space docking mechanism plays an important role in connecting the various cabin bodies. In order to maintain the stable flight state of the spacecraft, In order to ensure the reliability of the docking mechanism in orbit operation, the space docking mechanism is designed in the process of designing the space docking mechanism, in order to ensure the reliability of the docking mechanism in orbit, the space docking mechanism assembly will bear the force and torque of multiple degrees of freedom for a long time. It is necessary to carry out multi-degree of freedom loading fatigue test of docking mechanism assembly on the ground. This subject is based on the fatigue life test bench project of docking mechanism assembly. This paper studies the load test system of parallel multi-degree-of-freedom forces. Different from most of the previous multi-dimensional loading systems, the innovation of this paper lies in the design and verification of a new parallel loading structure. A closed-loop control method based on driving force is designed, and the output force of each loaded hydraulic actuator is obtained by solving the force and torque of the butt joint assembly. The fatigue loading of the docking mechanism assembly is realized by accurately controlling the output force of each loaded hydraulic actuator. Another innovation of this paper is to analyze the influence of the load stiffness change on the loading performance of the multi-degree-of-freedom loading system through the simulation software. And the coupling characteristics of the loading force of the loading system are simulated. This paper first introduces the basic structure and loading principle of multi-axis loading system based on orthogonal six-degree-of-freedom parallel platform. This kind of orthogonal parallel mechanism can precisely apply the force and torque of a given six degrees of freedom to the docking mechanism assembly at the same time. Secondly, According to the mechanical structure of the loading mechanism, the kinematics model of the loading system is established, and the dynamic equation is solved. The inverse solution model of the six dimensional force and torque of the loading system is established by using Matlab Simulink software. After that, the force closed loop system of the loaded hydraulic actuator is modeled and analyzed. A detailed model of the driving force closed-loop system of the valve controlled hydraulic cylinder is established. A single cylinder force closed-loop controller is designed to improve the stability of the driving force closed-loop control system. In order to establish the complete model of the parallel loading system studied in this paper, In this paper, the dynamic simulation software ADAMS is used to model the mechanical system of the loading system. Finally, Matlab and ADAMS software are used to simulate and analyze the parallel six-axis loading system. The static state of the parallel multi-axis loading system is realized by using the simulation load instead of the docking mechanism. State and dynamic loading simulation, The influence of the stiffness of the docking mechanism on the whole system is analyzed, and the coupling characteristics between the various degrees of freedom of the parallel multiaxial loading system are analyzed, which lays a foundation for the future study of the force decoupling control.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：V416.8

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本文編號(hào)：1624096