發(fā)布時(shí)間：2018-01-09 19:37

  本文關(guān)鍵詞：大射電望遠(yuǎn)鏡精調(diào)平臺(tái)運(yùn)動(dòng)對(duì)柔索牽引系統(tǒng)的動(dòng)力耦合影響分析　出處：《西安電子科技大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： FAST望遠(yuǎn)鏡 Stewart平臺(tái) 動(dòng)力學(xué)耦合作用 質(zhì)量比 多體系統(tǒng)動(dòng)力學(xué)

【摘要】：近年來，國家天文臺(tái)一直在全力推進(jìn)位于貴州喀斯特洼地的500m口徑球面射電望遠(yuǎn)鏡FAST(Five-hundred-meter Aperture Spherical Telscope)的建設(shè)工作。目前FAST望遠(yuǎn)鏡的設(shè)計(jì)方案中柔性饋源支撐系統(tǒng)由兩級(jí)調(diào)整子系統(tǒng)即一次柔索牽引系統(tǒng)和二次精調(diào)機(jī)構(gòu)組成，其中二次精調(diào)機(jī)構(gòu)包括AB轉(zhuǎn)軸和Stewart平臺(tái)。由于兩級(jí)子系統(tǒng)間存在的動(dòng)力學(xué)耦合作用會(huì)影響?zhàn)佋吹膭?dòng)態(tài)定位精度，，因此本文利用多體系統(tǒng)動(dòng)力學(xué)分析軟件ADAMS對(duì)柔索牽引系統(tǒng)和精調(diào)Stewart平臺(tái)進(jìn)行動(dòng)力學(xué)建模和仿真分析，其中重點(diǎn)探討在Stewart平臺(tái)運(yùn)動(dòng)過程中饋源艙與動(dòng)平臺(tái)的質(zhì)量比對(duì)兩級(jí)子系統(tǒng)間動(dòng)力學(xué)耦合的影響。 首先，分析了多體系統(tǒng)動(dòng)力學(xué)基本理論及多體動(dòng)力學(xué)分析軟件ADAMS的相關(guān)技術(shù)。著重研究了多體系統(tǒng)動(dòng)力學(xué)方程的建立與求解方法，以及基于ADAMS軟件對(duì)多體系統(tǒng)進(jìn)行建模與運(yùn)動(dòng)學(xué)及動(dòng)力學(xué)仿真分析的關(guān)鍵技術(shù)。 其次，在多體系統(tǒng)動(dòng)力學(xué)理論的基礎(chǔ)上，建立了Stewart平臺(tái)的逆運(yùn)動(dòng)學(xué)和逆動(dòng)力學(xué)模型，并利用ADAMS軟件對(duì)一種Stewart平臺(tái)進(jìn)行運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)仿真分析。通過將仿真結(jié)果與理論計(jì)算結(jié)果進(jìn)行對(duì)比，驗(yàn)證了本文利用ADAMS軟件建模與仿真分析的準(zhǔn)確性。 隨后，研究了ADAMS軟件中柔索的軸套力連接建模方法及其參數(shù)化，通過對(duì)兩根柔索受拉力模型進(jìn)行建模和仿真分析，驗(yàn)證了軸套力建模方法的準(zhǔn)確性。探討了平面索桿混合結(jié)構(gòu)的動(dòng)力耦合影響，為L(zhǎng)T500m模型的仿真研究提供指導(dǎo)。 最后，完成了基于ADAMS的艙索系統(tǒng)和Stewart平臺(tái)的動(dòng)力學(xué)建模與仿真分析，重點(diǎn)研究了Stewart平臺(tái)做不同的調(diào)整運(yùn)動(dòng)時(shí)饋源艙與動(dòng)平臺(tái)的質(zhì)量比對(duì)饋源艙的位移響應(yīng)的影響，并最終獲得了在不同運(yùn)動(dòng)條件下使饋源艙的位移滿足精度要求的臨界質(zhì)量比，為提高饋源的動(dòng)態(tài)定位精度、降低兩級(jí)子系統(tǒng)間的動(dòng)力學(xué)耦合影響提供了參考依據(jù)。
[Abstract]:In recent years. The national observatory has been pushing forward the 500m spherical radio telescope FAST in Guizhou karst depression. Five-hundred-meter Aperture Spherical Telscope). At present, the flexible feed support system in the design of FAST telescope is composed of two stage adjusting subsystem, namely, the primary flexible cable traction system and the secondary fine adjusting mechanism. The secondary fine tuning mechanism includes AB axis and Stewart platform. The dynamic coupling between the two subsystems will affect the dynamic positioning accuracy of the feed. Therefore, the dynamic modeling and simulation analysis of flexible cable traction system and fine-tuned Stewart platform are carried out by using multi-body system dynamics analysis software ADAMS. The effect of the mass ratio of the feed cabin to the moving platform on the dynamic coupling between the two subsystems is discussed in detail. Firstly, the basic theory of multi-body system dynamics and the related technology of multi-body dynamics analysis software ADAMS are analyzed. And the key technology of modeling and kinematics and dynamics simulation of multi-body system based on ADAMS software is presented. Secondly, based on the theory of multi-body system dynamics, the inverse kinematics and inverse dynamics models of Stewart platform are established. The kinematics and dynamics of a Stewart platform are analyzed by using ADAMS software, and the simulation results are compared with the theoretical results. The accuracy of modeling and simulation analysis using ADAMS software is verified. Then, the modeling method and parameterization of the axle sleeve force connection of the flexible cable in ADAMS software are studied, and the modeling and simulation analysis of the tension model of two flexible cables are carried out. The accuracy of the method is verified, and the influence of dynamic coupling of plane cable-bar hybrid structure is discussed, which provides guidance for the simulation of LT500m model. Finally, the dynamic modeling and simulation analysis of cable-cable system and Stewart platform based on ADAMS are completed. The effect of the mass ratio of the feed cabin to the moving platform on the displacement response of the feed cabin is studied. Finally, the critical mass ratio is obtained to make the displacement of the feed cabin meet the requirement of accuracy under different moving conditions, in order to improve the dynamic positioning accuracy of the feed. The reference is provided to reduce the effect of dynamic coupling between two stage subsystems.
【學(xué)位授予單位】：西安電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TH751

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