本文選題：并聯(lián)機(jī)構(gòu) + 力控制��； 參考：《燕山大學(xué)》2011年碩士論文

【摘要】：六自由度并聯(lián)機(jī)構(gòu)與串聯(lián)機(jī)構(gòu)相比,具有剛度大,結(jié)構(gòu)穩(wěn)定、承載能力強(qiáng)和控制精度高等一系列突出優(yōu)點(diǎn),從而被應(yīng)用到了工業(yè)生產(chǎn)、航空航天、科學(xué)實(shí)驗(yàn)等各個領(lǐng)域。但目前對于其控制,大多是運(yùn)動控制,將輸出力而不是位姿直接進(jìn)行控制的研究相對較少。隨著六自由度并聯(lián)機(jī)構(gòu)應(yīng)用的日益廣泛以及機(jī)構(gòu)自身的強(qiáng)耦合性,因此有必要對輸出力進(jìn)行智能控制。 本文在分析了6-SPS并聯(lián)機(jī)構(gòu)力學(xué)模型和平臺單自由度輸出力控制方法以及有限元模擬的基礎(chǔ)上,研究了模糊PID控制策略在并聯(lián)機(jī)構(gòu)力控制中較傳統(tǒng)PID控制的優(yōu)越性等問題。具體內(nèi)容如下: 通過對力學(xué)模型的理論研究,推導(dǎo)出了六自由度并聯(lián)機(jī)構(gòu)的輸出力公式,分析了輸出力的影響因素,并給出了Stewart平臺單缸力求解的算例。分析了平臺單自由度輸出力控制方法。 以SolidWorks為工具,建立了Stewart平臺機(jī)構(gòu)的三維實(shí)體模型,利用COSMOSWorks對單個液壓缸裝配體和機(jī)構(gòu)整體進(jìn)行了有限元分析,得到應(yīng)力、位移和應(yīng)變云圖,校驗(yàn)了危險截面的安全系數(shù),最后對機(jī)構(gòu)整體進(jìn)行了振動頻率的有限元分析。 設(shè)計(jì)了適合本文的模糊PID控制器,調(diào)定了各個參數(shù)。建立了單缸力控制系統(tǒng)數(shù)學(xué)模型,并推導(dǎo)出系統(tǒng)的傳遞函數(shù),給出控制框圖。建立了單缸力控制系統(tǒng)和平臺單自由度輸出力控制系統(tǒng)的仿真模型,利用MATLAB/Simulink為仿真工具,對模糊PID控制和傳統(tǒng)PID控制在單缸力控制和單自由度輸出力控制中進(jìn)行了對比仿真研究,并分析了液壓缸泄漏、外界干擾和平臺裝配誤差等因素對力控制的影響。用AMESim/MATLAB聯(lián)合仿真的方法,從另外一個角度,也更精確的對模糊PID控制器的控制效果進(jìn)行了仿真分析。
[Abstract]:Compared with the series mechanism , the six - degree - of - freedom parallel mechanism has a series of outstanding advantages such as large rigidity , stable structure , strong bearing capacity , high control precision and the like , thus being applied to various fields such as industrial production , aerospace , scientific experiments and the like .


Based on the analysis of the mechanical model of 6 - SPS parallel mechanism and the single - degree - of - freedom output force control method of the platform and the finite element simulation , the superiority of the fuzzy PID control strategy to the traditional PID control in parallel mechanism force control is studied .


By studying the theory of the mechanical model , the output force formula of the six - degree - of - freedom parallel mechanism is derived , the influencing factors of the output force are analyzed , and an example of the single - cylinder effort solution of the Stewart platform is given . The control method of single - degree - of - freedom output force of the platform is analyzed .


In this paper , a three - dimensional solid model of Stewart platform mechanism was established by using the software as a tool . By using COSMOStool , finite element analysis was carried out on the whole assembly and mechanism of single hydraulic cylinder , and the safety factor of dangerous section was verified . Finally , finite element analysis of vibration frequency was carried out on the whole mechanism .


This paper designs a fuzzy PID controller which is suitable for this paper . The mathematical model of single cylinder force control system is set up and the transfer function of the system is deduced . The simulation model of single cylinder force control system and single degree of freedom output force control system is deduced .
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2011
【分類號】：TH137

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前3條

1 李琳琳;3-5R并聯(lián)微動機(jī)構(gòu)運(yùn)動分析和控制基礎(chǔ)研究[D];燕山大學(xué);2012年

2 胡峰;一種輕型高速并聯(lián)機(jī)械手的設(shè)計(jì)與仿真研究[D];電子科技大學(xué);2013年

3 張兆陽;一種適合狹窄空間下零部件裝配機(jī)械手的設(shè)計(jì)與研究[D];燕山大學(xué);2013年

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本文編號：2004111