本文選題：數(shù)據(jù)實(shí)時(shí)通信 + 6-DOF平臺(tái)工作空間求解��； 參考：《江蘇科技大學(xué)》2017年碩士論文

【摘要】：本文結(jié)合本實(shí)驗(yàn)室已有的船舶視景模擬駕駛系統(tǒng)與Stewart平臺(tái)實(shí)物,旨在于設(shè)計(jì)一套控制系統(tǒng),讓Stewart平臺(tái)能夠模擬船舶視景模擬駕駛系統(tǒng)中相關(guān)海浪的運(yùn)動(dòng),為Stewart平臺(tái)上面的其他多自由度補(bǔ)償設(shè)備與船舶運(yùn)動(dòng)模擬器的研究奠定基礎(chǔ)。全文主要內(nèi)容包括:(1)應(yīng)用LabVIEW獲取海浪視景模擬的相關(guān)海浪運(yùn)動(dòng)參數(shù),并通過(guò)OPC技術(shù)和TCP/IP協(xié)議將其實(shí)時(shí)傳遞給并聯(lián)六自由度平臺(tái)運(yùn)動(dòng)控制系統(tǒng)和控制操作面板,設(shè)計(jì)了一套船舶視景模擬駕駛系統(tǒng)與六自由度平臺(tái)控制系統(tǒng)實(shí)時(shí)通信的方法,從而實(shí)現(xiàn)了相關(guān)參數(shù)實(shí)時(shí)通信。(2)Stewart平臺(tái)工作空間決定了其工況,為了確定其工況,以Matlab為計(jì)算工具,結(jié)合Stewart平臺(tái)的運(yùn)動(dòng)約束條件和實(shí)際平臺(tái)的結(jié)構(gòu)尺寸,通過(guò)理論計(jì)算推導(dǎo),用邊界搜索法求解本實(shí)驗(yàn)室Stewart平臺(tái)的工作空間,然后結(jié)合海浪譜的相關(guān)知識(shí),得到該Stewart平臺(tái)能夠模擬的海浪運(yùn)動(dòng)以及相關(guān)船舶運(yùn)動(dòng)的工況。(3)控制系統(tǒng)的控制策略是采用帶有PID控制器的負(fù)反饋閉環(huán)控制,為了提高控制性能就必須求出較為合理的PID參數(shù)。首先分析了本系統(tǒng)的控制原理,推導(dǎo)了液壓控制系統(tǒng)的傳遞函數(shù),并進(jìn)行了仿真分析了其靜態(tài)和動(dòng)態(tài)特性。然后詳細(xì)闡述了常規(guī)的穩(wěn)態(tài)邊界法與智能算法人群搜索法(SOA)的原理,最后利用這兩種方法分別整定PID參數(shù),并將結(jié)果進(jìn)行對(duì)比,分析了智能算法整定結(jié)果的優(yōu)越性。(4)對(duì)平臺(tái)進(jìn)行單通道液壓系統(tǒng)仿真實(shí)驗(yàn)和實(shí)機(jī)實(shí)驗(yàn)。運(yùn)用AMESim軟件對(duì)單通道液壓系統(tǒng)和電磁閥建模并進(jìn)行仿真實(shí)驗(yàn),對(duì)電磁閥的靜態(tài)和動(dòng)態(tài)特性進(jìn)行分析,并對(duì)單通道液壓系統(tǒng)進(jìn)行正弦信號(hào)跟隨仿真實(shí)驗(yàn),驗(yàn)證相關(guān)設(shè)計(jì)的合理性。利用西門子觸摸屏設(shè)計(jì)Stewart平臺(tái)的控制界面,用西門子S7-300PLC編寫Stewart平臺(tái)的運(yùn)動(dòng)控制程序,利用LabVIEW搭建液壓缸長(zhǎng)度變化實(shí)時(shí)監(jiān)控畫面,通過(guò)讓六自由度上平臺(tái)沿Z軸做正弦周期運(yùn)動(dòng),來(lái)監(jiān)控1號(hào)缸位移變化情況,并將其與理論正弦曲線進(jìn)行對(duì)比,驗(yàn)證了本文所設(shè)計(jì)的控制系統(tǒng)的可行性。
[Abstract]:Combining the ship visual simulation driving system and the Stewart platform, this paper aims to design a control system to enable the Stewart platform to simulate the motion of the related waves in the ship visual simulation driving system. It lays a foundation for the research of other multi-degree-of-freedom compensators and ship motion simulators on Stewart platform. The main contents of this paper include: (1) LabVIEW is used to obtain the parameters of wave motion in the simulation of ocean waves, and it is transmitted to the motion control system and control panel of parallel six-degree-of-freedom platform through OPC technology and TCP/IP protocol in real time. A method of real-time communication between ship visual simulation driving system and six degree of freedom platform control system is designed, and the real-time communication of correlative parameters is realized. The workspace of Stewart platform determines its working condition. In order to determine its working condition, Matlab is used as the calculation tool. Combined with the movement constraints of the Stewart platform and the structure size of the actual platform, the workspace of the laboratory Stewart platform was solved by the boundary search method through theoretical calculation and derivation, and then combined with the relevant knowledge of the wave spectrum. The control strategy of the control system is to adopt negative feedback closed-loop control with PID controller. In order to improve the control performance, reasonable PID parameters must be obtained. Firstly, the control principle of the system is analyzed, the transfer function of the hydraulic control system is deduced, and its static and dynamic characteristics are simulated and analyzed. Then the principle of conventional steady-state boundary method and intelligent algorithm crowd search method is described in detail. Finally, the parameters of PID are adjusted by these two methods, and the results are compared. The advantages of intelligent algorithm tuning results are analyzed. (4) A single channel hydraulic system simulation experiment and a real computer experiment are carried out on the platform. The single channel hydraulic system and solenoid valve are modeled and simulated by using AMESim software. The static and dynamic characteristics of the solenoid valve are analyzed, and the sinusoidal signal following simulation experiment of the single channel hydraulic system is carried out to verify the rationality of the related design. The control interface of Stewart platform is designed by Siemens touch screen, the motion control program of Stewart platform is written by Siemens S7-300PLC, the real-time monitoring picture of hydraulic cylinder length change is built by LabVIEW, and the sine cycle motion of the platform with six degrees of freedom is carried out along Z axis. The displacement of cylinder No. 1 is monitored and compared with the theoretical sinusoidal curve, which verifies the feasibility of the control system designed in this paper.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：U661.74;TP273

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