本文選題：故障保護(hù)系統(tǒng) + 故障監(jiān)控系統(tǒng)　； 參考：《大連海事大學(xué)》2011年碩士論文

【摘要】：六自由度并聯(lián)運(yùn)動(dòng)平臺(tái)具有剛度大、便于實(shí)時(shí)控制、精度高、誤差小、承載能力大等優(yōu)點(diǎn),是近幾十年發(fā)展起來的新型產(chǎn)品,廣泛應(yīng)用于航空航天領(lǐng)域、汽車制造領(lǐng)域、船舶、醫(yī)療診斷、生物工程及民用娛樂等領(lǐng)域逐漸成為機(jī)器人領(lǐng)域的研究熱點(diǎn)。近些年來,對(duì)于六自由度并聯(lián)運(yùn)動(dòng)平臺(tái)實(shí)時(shí)控制方法的研究引起了世界上眾多學(xué)者的廣泛關(guān)注。 本文首先介紹了六自由度電動(dòng)平臺(tái)的組成機(jī)構(gòu),基于SolidWorks軟件建立了三維實(shí)體模型,并建立了平臺(tái)的運(yùn)動(dòng)學(xué)模型,采用矩陣分析方法進(jìn)行六自由度運(yùn)動(dòng)平臺(tái)的運(yùn)動(dòng)學(xué)反解分析,為實(shí)時(shí)控制軟件的編制提供了理論依據(jù)。 本文采用哈爾濱工業(yè)大學(xué)博實(shí)精密公司研制的多軸運(yùn)動(dòng)控制器MAC作為控制主體,基于“工控機(jī)+運(yùn)動(dòng)控制卡”的模式,構(gòu)建了一個(gè)開放式的六自由度電動(dòng)平臺(tái)控制系統(tǒng)�；赪indows平臺(tái),采用功能模塊化設(shè)計(jì)方法開發(fā)了控制軟件,實(shí)現(xiàn)了六自由度電動(dòng)平臺(tái)的基本控制功能。 本文介紹了六自由度電動(dòng)平臺(tái)控制系統(tǒng)的總體硬件結(jié)構(gòu)及各組成部份的相關(guān)參數(shù)與功能。采用Visual C++編程語言對(duì)控制軟件進(jìn)行了功能開發(fā),對(duì)主要功能模塊進(jìn)行了介紹。建立了六自由度電動(dòng)平臺(tái)的故障保護(hù)系統(tǒng)及故障監(jiān)控系統(tǒng),并詳細(xì)介紹了系統(tǒng)組成部分及實(shí)現(xiàn)過程。 基于六自由度電動(dòng)平臺(tái)控制系統(tǒng),進(jìn)行了相關(guān)控制運(yùn)行實(shí)驗(yàn)。六自由度電動(dòng)平臺(tái)在實(shí)驗(yàn)過程中定位精度高、運(yùn)動(dòng)平穩(wěn),振動(dòng)小,噪音低,故障發(fā)生時(shí)能實(shí)現(xiàn)可靠保護(hù)以及平臺(tái)伺服系統(tǒng)發(fā)生故障時(shí)能夠?qū)崟r(shí)遠(yuǎn)程監(jiān)控,從而驗(yàn)證了控制系統(tǒng)軟、硬件的有效性及故障保護(hù)系統(tǒng)和故障監(jiān)控系統(tǒng)的可靠性。
[Abstract]:The six-degree-of-freedom parallel motion platform has the advantages of large stiffness, convenient real-time control, high precision, small error, large bearing capacity and so on. It is a new product developed in recent decades. It is widely used in the fields of aerospace, automobile manufacturing, ships, etc. The fields of medical diagnosis, bioengineering and civil entertainment have gradually become the research hotspot in the field of robot. In recent years, the research on the real-time control method of 6-DOF parallel motion platform has attracted the attention of many scholars all over the world. In this paper, the mechanism of the six-degree-of-freedom electric platform is introduced. The three-dimensional solid model is established based on SolidWorks software, and the kinematics model of the platform is established. The inverse kinematics solution of the six-degree-of-freedom motion platform is analyzed by matrix analysis method. It provides a theoretical basis for the development of real-time control software. In this paper, the multi-axis motion controller (MAC) developed by Harbin University of Technology (Harbin University of Technology) is used as the main control body. Based on the mode of "industrial control computer motion control card", an open control system of six degrees of freedom electric platform is constructed. Based on Windows platform, the control software is developed by using functional modularization design method, and the basic control function of electric platform with six degrees of freedom is realized. This paper introduces the overall hardware structure of the control system of six degrees of freedom electric platform and the related parameters and functions of each component. The function of control software is developed with Visual C programming language, and the main function modules are introduced. The fault protection system and fault monitoring system of six degrees of freedom electric platform are established, and the system components and implementation process are introduced in detail. Based on the control system of six degrees of freedom electric platform, the related control operation experiment is carried out. The electric platform with six degrees of freedom has high positioning accuracy, stable motion, low vibration and low noise. It can realize reliable protection when the fault occurs and real-time remote monitoring when the platform servo system fails. The validity of the software and hardware of the control system and the reliability of the fault protection system and the fault monitoring system are verified.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH112

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 黃昊聰;四自由度并聯(lián)機(jī)構(gòu)平臺(tái)的平穩(wěn)控制研究[D];廣東工業(yè)大學(xué);2013年

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本文編號(hào)：2074451