【摘要】：搖擺試驗臺在國防測試領域起著重要的關鍵的作用。三自由度搖擺臺是模擬船舶橫搖、縱搖和垂蕩運動的實驗測試設備,它為導航設備的研制提供運動模擬和精度測試提供條件,所以開發(fā)和研制高性能的搖擺臺設備具有重要意義。本文針對重型搖擺臺對大負載、大沖擊及工作在復雜工況下,研發(fā)出高精度、高可靠性的一重型搖擺試驗臺。首先,根據(jù)參數(shù)指標對大負載三自由度搖擺臺系統(tǒng)臺體結(jié)構(gòu)進行設計分析。搖擺臺主體結(jié)構(gòu)為雙層框型結(jié)構(gòu),外框底部通過中央鉸支座與地基固聯(lián),十字軸承的橫軸、縱軸為搖擺臺橫搖軸和縱搖軸,內(nèi)框與外框之間相對運動就實現(xiàn)了內(nèi)框相對外框垂蕩。對臺體的各種極限位姿進行運動學分析和仿真,使搖擺臺各種性能指標都能夠達到設計要求。其次,針對搖擺臺驅(qū)動系統(tǒng)液壓伺服系統(tǒng)進行數(shù)學模型建立。對建立的數(shù)學模型根據(jù)系統(tǒng)實際運用的各元件參數(shù)對系統(tǒng)進行數(shù)值化,對數(shù)值化后的模型分別進行動態(tài)性能和穩(wěn)態(tài)性能分析,根據(jù)分析發(fā)現(xiàn)參數(shù)化的模型在動態(tài)性能上不能達到系統(tǒng)性能指標的要求,需要對系統(tǒng)進行校正�？墒紫炔捎霉こ處焸兂Ｓ玫腜ID控制器對系統(tǒng)進行校正,在一定條件下系統(tǒng)能夠達到性能指標�？紤]到模型對象很多物理參數(shù)隨著系統(tǒng)工作在復雜的工作環(huán)境中其參數(shù)會隨著時間的變化而發(fā)生變化,加上在系統(tǒng)數(shù)學模型建立時針對很多非線性問題大多采用近似或者忽略的做法,所以液壓伺服系統(tǒng)是一個時變的不確定性系統(tǒng)。最后,針對液壓伺服系統(tǒng)的模型不確定,本文應用魯棒控制中混合靈敏度優(yōu)化方法對系統(tǒng)進行控制器設計。通過選取適當?shù)募訖?quán)函數(shù),運用Matlab中魯棒控制工具箱求取H∞控制器,針對搖擺臺在保留余量的基礎上還要受到巨大沖擊力進行了仿真。從理論分析和仿真實驗結(jié)果表明搖擺臺系統(tǒng)具有良好的動態(tài)性能和魯棒性能。
[Abstract]:The swing test bench plays an important role in the field of national defense testing. The three-degree-of-freedom swinging platform is an experimental test equipment for simulating ship rolling, pitching and swaying motion. It provides the conditions for the development of navigation equipment, such as motion simulation and precision testing. Therefore, it is of great significance to develop and develop high-performance swing platform equipment. In this paper, a high-precision and high-reliability heavy-duty rocking test-bed is developed for heavy rocking table under heavy load, large impact and working condition. Firstly, according to the parameter index, the platform structure of three degrees of freedom swing table system with large load is designed and analyzed. The main structure of the rocking table is a double frame structure, the bottom of the outer frame is fixed to the foundation through the central hinge support, the horizontal axis of the cross bearing, the longitudinal axis is the rolling shaft and the pitch shaft of the rocking table, The relative motion between the inner frame and the outer frame makes the inner frame swing relative to the outer frame. The kinematics analysis and simulation of all kinds of limit position and pose of the platform make all kinds of performance indexes of the swing platform meet the design requirements. Secondly, the mathematical model of hydraulic servo system is established. The established mathematical model is numerically applied to the system according to the parameters of each component used in the system, and the dynamic and steady performance of the numerical model are analyzed respectively. According to the analysis, it is found that the parameterized model can not meet the requirements of the system performance index in dynamic performance, so it is necessary to correct the system. The PID controller commonly used by engineers can be used to correct the system, and the system can achieve the performance index under certain conditions. Considering that many of the physical parameters of the model object change over time as the system works in a complex working environment, In addition, the hydraulic servo system is a time-varying uncertain system because of the approximate or neglected approach to many nonlinear problems when the mathematical model of the system is established. Finally, in view of the uncertain model of hydraulic servo system, this paper applies the hybrid sensitivity optimization method in robust control to design the controller of the system. By selecting appropriate weighting function and using robust control toolbox in Matlab to obtain H 鈭，

本文編號：2382484