本文選題：六自由度運(yùn)動(dòng)系統(tǒng)　切入點(diǎn)：動(dòng)力學(xué)耦合　出處：《哈爾濱工業(yè)大學(xué)》2012年碩士論文

【摘要】：液壓驅(qū)動(dòng)的六自由度運(yùn)動(dòng)系統(tǒng)是飛行模擬機(jī)的載體，系統(tǒng)運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的強(qiáng)耦合性，給通過控制方式來發(fā)掘系統(tǒng)的應(yīng)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(dòng)力學(xué)耦合補(bǔ)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(kuò)寬控制器的適用范圍，對動(dòng)力學(xué)性耦合的深入研究必將促進(jìn)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(yùn)動(dòng)系統(tǒng)進(jìn)行了運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析，將主動(dòng)關(guān)節(jié)和被動(dòng)關(guān)節(jié)的摩擦力都考慮在內(nèi)，尤其是以往忽略的被動(dòng)關(guān)節(jié)的摩擦力，用Kane法得到了系統(tǒng)完整的多剛體動(dòng)力學(xué)方程的解析式，并且推導(dǎo)了液壓驅(qū)動(dòng)系統(tǒng)的傳遞函數(shù)，驅(qū)動(dòng)系統(tǒng)與動(dòng)力系統(tǒng)結(jié)合得到了系統(tǒng)的整體動(dòng)力學(xué)模型。 然后，介紹了所要研究的模態(tài)解耦控制器設(shè)計(jì)的理論依據(jù)，對多自由度運(yùn)動(dòng)系統(tǒng)模態(tài)分析的方法做了簡單介紹，根據(jù)系統(tǒng)的結(jié)構(gòu)和慣性參數(shù)，求得了系統(tǒng)在中位時(shí)的慣性矩陣，剛度矩陣，以及模態(tài)矩陣的數(shù)值解，，最后對阻尼矩陣分情況做了分析，并根據(jù)非粘性比例阻尼系統(tǒng)的判定依據(jù)，得到了一個(gè)系統(tǒng)非粘性比例阻尼程度的數(shù)值化的判定指標(biāo)。 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(dòng)力學(xué)模型的集成聯(lián)合仿真模型，分析了系統(tǒng)在不同阻尼情況下的各個(gè)自由度頻率響應(yīng)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(jīng)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(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】：2012
【分類號(hào)】：TH137;V416.8

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