本文關(guān)鍵詞：基于柔性鉸鏈的位移放大機構(gòu)及三自由度調(diào)姿平臺研究　出處：《哈爾濱工業(yè)大學(xué)》2017年博士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 衛(wèi)星調(diào)姿平臺 柔性鉸鏈 剛度模型 位移放大機構(gòu) 參數(shù)優(yōu)化設(shè)計

【摘要】：人類對外太空探索的渴求促進了衛(wèi)星技術(shù)的迅猛發(fā)展。當(dāng)前,人造衛(wèi)星已深入到定位導(dǎo)航、軍事偵查、農(nóng)業(yè)氣象和對地觀測等各個領(lǐng)域,為信息化社會建設(shè)作出卓越貢獻。由于受到非球形引力場等諸多客觀環(huán)境因素的影響,衛(wèi)星在軌期間會發(fā)生周期性漂移,調(diào)姿平臺作為衛(wèi)星位姿調(diào)節(jié)控制系統(tǒng)的執(zhí)行機構(gòu),其調(diào)節(jié)精度將直接影響到衛(wèi)星的最終姿態(tài)。并聯(lián)機構(gòu)和微驅(qū)動技術(shù)作為目前工程應(yīng)用領(lǐng)域的研究熱點,兩者的有機結(jié)合使精密位姿調(diào)節(jié)并聯(lián)機構(gòu)應(yīng)用在航天領(lǐng)域成為可能。本文展開了對柔性位移放大機構(gòu)及三自由度柔性并聯(lián)平臺一系列力學(xué)特性的研究,為最后研制衛(wèi)星調(diào)姿平臺原理樣機提供理論基礎(chǔ)與技術(shù)支撐。柔性位移放大機構(gòu)作為柔性平臺的核心部件,其力學(xué)性能是分析的重點。本文針對柔性位移放大機構(gòu)普遍存在的結(jié)構(gòu)對稱性和過約束性,以機構(gòu)1/2模型為研究對象,將柔性鉸鏈視為變截面梁,從結(jié)構(gòu)力學(xué)的角度,提出了基于力法思想的非正則力法方程用于建立柔性位移放大機構(gòu)力學(xué)計算模型,進而得到機構(gòu)位移放大比和系統(tǒng)剛度的理論計算公式。以柔性位移放大機構(gòu)中常見的杠桿式和橋式柔性位移放大機構(gòu)為算例,分別建立理論模型并與仿真結(jié)果進行對比,驗證了理論模型的正確性,并分析了結(jié)構(gòu)設(shè)計參數(shù)對柔性機構(gòu)力學(xué)特性的影響。基于有限元思想,將柔性鉸鏈視為變截面梁單元,在廣義坐標(biāo)系下根據(jù)作用在梁單元上力的平衡關(guān)系推導(dǎo)了變截面梁單元剛度矩陣,通過坐標(biāo)系變換及位移公式建立了變截面梁單元在單元坐標(biāo)系下的單元剛度矩陣、形函數(shù)和質(zhì)量矩陣。根據(jù)柔性位移放大機構(gòu)的結(jié)構(gòu)特點,基于有限單元法哈密頓原理建立了含多點約束方程的系統(tǒng)動力學(xué)方程,對柔性機構(gòu)進行了固有特性分析,得到了機構(gòu)的固有頻率,分析了結(jié)構(gòu)設(shè)計參數(shù)對柔性機構(gòu)一階固有頻率的影響,通過有限元仿真結(jié)果與理論模型計算結(jié)果的對比,驗證了理論模型的正確性。在此基礎(chǔ)上,基于柔性位移放大機構(gòu)的靜力學(xué)計算模型和動態(tài)力學(xué)計算模型,對柔性位移放大機構(gòu)進行以機構(gòu)位移放大倍數(shù)、結(jié)構(gòu)系統(tǒng)剛度、一階固有頻率、質(zhì)量和應(yīng)力為目標(biāo)的多目標(biāo)優(yōu)化設(shè)計,得到最優(yōu)設(shè)計參數(shù)。設(shè)計了基于柔性位移放大機構(gòu)和柔性球鉸的三自由度柔性并聯(lián)機構(gòu),基于旋量理論討論了不同構(gòu)型機構(gòu)的自由度。利益柔性鉸鏈偽剛體模型法對柔性并聯(lián)機構(gòu)進行了運動學(xué)建模,給出了其運動學(xué)逆解,并對其可達工作空間進行了仿真。此外在建立了柔性球鉸末端剛度矩陣的基礎(chǔ)上,根據(jù)結(jié)構(gòu)力學(xué)的柔度矩陣疊加法,建立了柔性并聯(lián)機構(gòu)的靜剛度解析模型,并系統(tǒng)的分析了結(jié)構(gòu)設(shè)計參數(shù)對機構(gòu)各向剛度的影響。搭建了柔性位移放大機構(gòu)試驗系統(tǒng),在壓電陶瓷驅(qū)動器處于閉環(huán)控制模式下測量了柔性位移放大機構(gòu)的位移放大比和固有頻率。根據(jù)機構(gòu)設(shè)計方案,研制出三自由度衛(wèi)星調(diào)姿平臺原理樣機,并搭建系統(tǒng)實驗系統(tǒng)。對于系統(tǒng)靜力學(xué)性能指標(biāo),分別測量了原理樣機的運動范圍和重復(fù)定位精度,對于系統(tǒng)動態(tài)性能指標(biāo)則測量了運動分辨率和系統(tǒng)固有頻率,并討論了溫度載荷對平臺的影響。實驗結(jié)果進一步表明原理樣機設(shè)計和理論分析的合理性。
[Abstract]:The human thirst for foreign space exploration to promote the rapid development of satellite technology. At present, the satellite has been deep into the navigation, military reconnaissance, agricultural meteorology and in various areas of earth observation, made outstanding contribution for the construction of the information society. Due to the impact of non spherical gravitational field and other objective factors, periodically drift the satellite in orbit during the attitude adjusting platform as satellite pose actuator control system, the control precision will directly affect the final attitude. Parallel mechanism and micro drive technology as the current research focus in the field of engineering application, the combination of the precise position and attitude adjusting parallel mechanism in the field of Aerospace applications become possible. This paper focuses on the flexible displacement amplification mechanism and three degree of freedom flexible parallel platform a series of mechanical properties, for the final development of the satellite attitudeadjustment original platform Physical prototype provides theoretical basis and technical support agencies. As a core component of flexible platform for flexible displacement amplification, its mechanical properties are analyzed. Based on the flexible displacement amplification mechanism widely exists symmetrical structure and constraints, the mechanism of 1/2 model as the research object, the flexible hinge as the variable cross-section beam from the structure the mechanical angle, non regular force method equation of force method based on the idea for establishing a flexible displacement amplification mechanism mechanics calculation model is presented, and then obtain the mechanism displacement amplification ratio and system theory, the stiffness formula. Based on the flexible displacement amplification mechanism in common lever type and bridge type compliant displacement amplifier as an example, the paper establishes theory the model is compared with the simulation results, verify the correctness of the theoretical model, and analyze the influence of design parameters on the mechanical properties of flexible mechanism. Based on finite element Thought, will be regarded as flexible hinge tapered beam element, in the generalized coordinates according to the balance between the force acting on the beam element stiffness matrix was derived with variable cross section beam element stiffness matrix, Dan Yuangang through the transformation and the displacement formula of coordinate system to establish a tapered beam element in the unit coordinates, shape function and quality according to the structural characteristics of matrix. Mechanism of flexible displacement amplification, the finite element method based on the principle of the Hamiltonian system dynamic equations with multi point constraint equations of flexible mechanism of natural characteristics analysis, obtain the inherent frequency of institutions, analyzes the influence of design parameters on the flexible mechanism of first-order natural frequency, comparing the calculated results with the the theoretical model through the finite element simulation results, verify the correctness of the theoretical model. Based on this model, and the dynamic mechanics statics based on flexible displacement amplification mechanism The calculation model of the flexible displacement amplification mechanism to displacement magnification structure, system stiffness, natural frequency, multi objective optimization design quality and stress as the goal, to get the optimal design parameters. The design mechanism and flexible ball joint flexible displacement amplification with three degrees of freedom parallel mechanism based on screw theory discuss the different configuration mechanism freedom. Based on the interests of the flexible hinge pseudo rigid body model method for kinematics modeling of flexible parallel mechanism, given its inverse kinematics, and the reachable workspace is simulated. In addition based on the flexible ball joint end stiffness matrix and flexibility matrix according to the superposition structure mechanics, established the static stiffness analysis of flexible parallel mechanism model, and analyze the effect of design parameters on mechanism stiffness. Build flexible displacement amplifier test In the testing system, a piezoelectric ceramic actuator in the ratio and frequency of displacement closed-loop control mode to measure the flexible displacement amplifier amplification. According to the design scheme, developed a three DOF satellite attitude adjusting platform principle prototype, and the experimental system is established. The system for mechanical performance of static system, measured range of motion principle prototype and repeat positioning accuracy, dynamic performance measurement system for the natural frequency and resolution system, and discusses the influence of temperature load on the platform. The experimental results further show that the principle prototype design rationality analysis and gauge theory.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2017
【分類號】：V448.22;TH112

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