本文選題：運動模擬器 + 多自由度��； 參考：《哈爾濱工程大學》2011年碩士論文

【摘要】：隨著自動化技術和機械加工技術的進一步發(fā)展,許多國家都很重視多自由度運動模擬器的研究,多自由度運動模擬器應用于模擬飛行器及船舶等的搖擺運動,它的動力學以及控制方法的研究,一方面有利于運動模擬器的設計和制造,另一方面可以直接應用于實際運動模擬實驗。它的發(fā)展水平標志著一個國家航空、航天、航海、路面運輸及戰(zhàn)車性能等方面的發(fā)達程度。 本文研究的是多自由度運動模擬器,該運動模擬器由三軸轉臺和六自由度并聯(lián)運動模擬器組成。六自由度并聯(lián)運動模擬器可以實現(xiàn)空間的六自由度運動,三軸轉臺的外框、中框和內(nèi)框可以實現(xiàn)無限制轉動,利用三軸轉臺可以達到六自由度并聯(lián)運動模擬器不能達到的空間,這樣的組合可以延伸到空間的任何位置,從而彌補了以上兩種運動模擬器單一運動時的范圍限制,使得此項研究更具有理論意義和實際價值。 本文首先對運動模擬器在國內(nèi)外的發(fā)展進行了介紹,然后對六自由度并聯(lián)轉臺和三軸轉臺進行運動學分析,求得其速度、加速度、角速度和角加速度,之后利用KANE法對混合轉臺進行動力學建模,計算出六個液壓桿的驅動力和三個軸的軸力矩,再根據(jù)并聯(lián)運動模擬器動力學反解容易的特點,通過對反解得到的力進行控制,達到對其運動位姿進行控制的目的,對電機以及液壓桿進行力控法的簡單研究,來說明力控法的可行性與不足之處。
[Abstract]:With the further development of automation technology and machining technology, many countries attach great importance to the research of multi-degree-of-freedom motion simulator, which is used to simulate the swing motion of aircraft and ship. The research of its dynamics and control method is beneficial to the design and manufacture of motion simulator on the one hand, and can be directly applied to the actual motion simulation experiment on the other hand. Its level of development marks a country's aviation, aerospace, navigation, road transport and performance of combat vehicles and other areas of development. In this paper, a motion simulator with multiple degrees of freedom is studied. The simulator is composed of a three-axis turntable and a six-degree-of-freedom parallel motion simulator. The 6-DOF parallel motion simulator can realize the 6-DOF motion in space, the outer frame, the middle frame and the inner frame of the three-axis turntable can be rotated without restriction, and the space that can not be achieved by the 6-DOF parallel motion simulator can be achieved by using the three-axis turntable. This combination can be extended to any position of the space, thus making up for the limitation of the range of the two motion simulators in a single motion, which makes the research more theoretical and practical value. In this paper, the development of motion simulator at home and abroad is introduced, then the kinematics analysis of 6-DOF parallel turntable and three-axis turntable is carried out, and the velocity, acceleration, angular velocity and angular acceleration are obtained. Then the dynamic model of the hybrid turntable is established by using Kane method, and the driving force of six hydraulic rods and the axial torque of three axes are calculated. Then, according to the characteristics of the easy dynamic inverse solution of the parallel motion simulator, the force obtained by the inverse solution is controlled. In order to control the position and pose of the motor and the hydraulic rod, the feasibility and deficiency of the force control method are explained.
【學位授予單位】：哈爾濱工程大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH113;O313

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本文編號：2081062