面向力学性能的并联隔振平台结构参数优化设计
|
摘要
固有频率和静变形量是度量并联隔振平台的力学性能的两个重要指标,其可以通过优化平台的结构参数得到综合提升,实现在保证静态刚度要求的前提下拓宽隔振平台的有效隔振带宽。通过对并联平台结构参数优化问题的描述及其影响因素的分析,建立以横向一阶固有频率、纵向一阶固有频率以及静变形量为目标,以上下平台半径、平台高度、负载质心高度、支腿与上下平台铰接点的中心夹角、弹簧刚度以及负载质量为变量的结构参数优化模型。选取两两之间关联度较大的4组变量,交互分析其对优化目标的影响。进一步,采用非支配排序遗传算法NSGA-Ⅱ进行模型优化求解,寻找最优结构参数。最后,通过实例对比显示优化后的隔振平台的力学性能得到明显改善。
The natural frequency and the static deformation are two important factors to indicate the mechanical performance of the vibration isolation platform based on parallel mechanism.These two factors can be comprehensively improved through optimizing the structural parameters of the platform,thus broading the effective vibration isolation bandwidth with meanwhile meeting the static stiffness requirements.Based on the description of the optimization problem and analysis of its impact factors,a multi-objective optimization model,which takes the static deformation and the first natural frequency in the transverse and longitudinal direction respectively as the optimization objectives,the radius of the upper and lower rings,height of the platform,mass center of the load,spring stiffness and some other factors as the variables,is built.Four groups of variables with relatively high correlation were selected to analyze their combined impact on the optimization goals.Furthermore,the non-dominated sorting genetic algorithm NSGA-Ⅱ is applied to find the optimal structural parameters.Finally,the comparative analysis of examples shows that the overall performance of the optimized platform is significantly improved.
The natural frequency and the static deformation are two important factors to indicate the mechanical performance of the vibration isolation platform based on parallel mechanism.These two factors can be comprehensively improved through optimizing the structural parameters of the platform,thus broading the effective vibration isolation bandwidth with meanwhile meeting the static stiffness requirements.Based on the description of the optimization problem and analysis of its impact factors,a multi-objective optimization model,which takes the static deformation and the first natural frequency in the transverse and longitudinal direction respectively as the optimization objectives,the radius of the upper and lower rings,height of the platform,mass center of the load,spring stiffness and some other factors as the variables,is built.Four groups of variables with relatively high correlation were selected to analyze their combined impact on the optimization goals.Furthermore,the non-dominated sorting genetic algorithm NSGA-Ⅱ is applied to find the optimal structural parameters.Finally,the comparative analysis of examples shows that the overall performance of the optimized platform is significantly improved.
引文
[1]Kong X,Gosselin C.Type Synthesis of Parallel Mechanisms[M].Springer Berlin Heidelberg,2007.
[2]Stewart D.A platform with six degrees of freedom[J].Proceedings of the Institution of Mechanical Engineers,1965,180(1):371-386.
[3]Asif U,Iqbal J.Modelling,Control and simulation of a six-DOF motion platform for a flight simulator[J].International Journal of Modelling&Simulation,2011,31(4):307-321.
[4]Cai G Q,Wang Q M,Hu M,et al.A study on the kinematics and dynamics of a 3-DOF parallel machine tool[J].Journal of Materials Processing Technology,2001,111(1):269-272.
[5]Amini A W,Adel A,Esmaeli P.Intelligent control method of a 6-DOF parallel robot used for rehabilitation treatment in lower limbs[J].Automatika,2016,57(2):466-476.
[6]南仁东.500m球反射面射电望远镜FAST[J].中国科学G辑:物理学、力学、天文学,2005,(05):3-20.Nan Rendong.Five-hundred-meter aperture spherical radio telescope FAST[J].Science China Physics,Mechanics&Astronomy,2005,35(05):3-20.
[7]李鹭扬.6-SPS型并联机床若干关键理论研究[D].南京:南京航空航天大学,2007.Li Luyang.Research on some key theoretical issues of6-sps parallel kinematic machines[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2007.
[8]于大国,李瑞琴,武文革.基于并联机构的多维被动隔振原理[J].中北大学学报(自然科学版),2011,32(03):271-275.Yu Daguo,Li Ruiqin,Wu Wenge.Principle of passive isolation of multi-dimensional vibration based on parallel mechanism[J].Journal of North University of China(Natural Science Edition),2011,32(03):271-275.
[9]Preumont A,Horodinca M,Romanescu I,et al.A sixaxis single-stage active vibration isolator based on Stewart platform[J].Journal of Sound&Vibration,2007,300(3):644-661.
[10]刘丽坤,郑钢铁.采用多作动器并联隔振平台的整星半主动隔振研究[J].上海航天,2008,25(06):39-42.Liu Likun,Zheng Gangtie.Study of semi-active parallel multi-actuator platform for whole-spacecraft vibration isolation[J].Aerospace Shanghai,2008,25(06):39-42.
[11]Zhang Y,Zang J,Fang B.Dynamic characteristics of integrated active and passive whole-spacecraft vibration isolation platform based on non-probabilistic reliability[J].Transactions of the Japan Society for Aeronautical&Space Sciences,2014,57(5):263-271.
[12]Zhu X,Jing X,Cheng L.Magnetorheological fluid dampers:A review on structure design and analysis[J].Journal of Intelligent Material Systems&Structures,2012,28(3):839-873.
[13]Devasia S,Meressi T,Paden B,et al.Piezoelectric actuator design for vibration suppression-placement and sizing[J].Journal of Guidance Control&Dynamics,2015,16(5):1367-1372.
[14]Wu Z,Jing X,Sun B,et al.A 6-DOF passive vibration isolator using X-shape supporting structures[J].Journal of Sound&Vibration,2016,380:90-111.
[15]Zhou J,Wang K,Xu D,et al.A six-DOF vibration isolation platform supported by a hexapod of quasi-zerostiffness struts[J].Journal of Vibration&Acoustics,2017,139(3):034502-034502-5.
[16]Wu Y,Yu K,Jiao J,et al.Dynamic modeling and robust nonlinear control of a six-DOF active micro-vibration isolation manipulator with parameter uncertainties[J].Mechanism&Machine Theory,2015,92:407-435.
[17]刘延柱.高等动力学[M].北京:高等教育出版社,2016.Liu Yanzhu.Advanced Dynamics[M].Beijing:Higher Education Press,2016.
[18]郑金华.多目标进化算法及其应用[M].北京:科学出版社,2007.Zheng Jinhua.Multi-objective Evolutionary Optimization and Its Application[M].Beijing:Science Press,2007.
[19]Deb K,Pratap A,Agarwal S,et al.A fast and elitist multiobjective genetic algorithm:NSGA-II[J].IEEETransactions on Evolutionary Computation,2002,6(2):182-197.
[20]肖晓伟,肖迪,林锦国,等.多目标优化问题的研究概述[J].计算机应用研究,2011,28(03):805-808.Xiao Xiaowei,Xiao Di,Lin Jinguo,et al.Overview on multi-objective optimization problem research[J].Application Research of Computers,2011,28(03):805-808.
[21]程明,陈照波,杨树涛,等.应用磁流变技术的星箭界面半主动隔振研究[J].振动工程学报,2017,30(1):86-92.Cheng Ming,Chen Zhaobo,Yang Shutao,et al.Study of semi-active satellite and rocket system vibration isolation using magnetorheological technology[J].Journal of Vibration Engineering,2017,30(1):86-92.
[2]Stewart D.A platform with six degrees of freedom[J].Proceedings of the Institution of Mechanical Engineers,1965,180(1):371-386.
[3]Asif U,Iqbal J.Modelling,Control and simulation of a six-DOF motion platform for a flight simulator[J].International Journal of Modelling&Simulation,2011,31(4):307-321.
[4]Cai G Q,Wang Q M,Hu M,et al.A study on the kinematics and dynamics of a 3-DOF parallel machine tool[J].Journal of Materials Processing Technology,2001,111(1):269-272.
[5]Amini A W,Adel A,Esmaeli P.Intelligent control method of a 6-DOF parallel robot used for rehabilitation treatment in lower limbs[J].Automatika,2016,57(2):466-476.
[6]南仁东.500m球反射面射电望远镜FAST[J].中国科学G辑:物理学、力学、天文学,2005,(05):3-20.Nan Rendong.Five-hundred-meter aperture spherical radio telescope FAST[J].Science China Physics,Mechanics&Astronomy,2005,35(05):3-20.
[7]李鹭扬.6-SPS型并联机床若干关键理论研究[D].南京:南京航空航天大学,2007.Li Luyang.Research on some key theoretical issues of6-sps parallel kinematic machines[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2007.
[8]于大国,李瑞琴,武文革.基于并联机构的多维被动隔振原理[J].中北大学学报(自然科学版),2011,32(03):271-275.Yu Daguo,Li Ruiqin,Wu Wenge.Principle of passive isolation of multi-dimensional vibration based on parallel mechanism[J].Journal of North University of China(Natural Science Edition),2011,32(03):271-275.
[9]Preumont A,Horodinca M,Romanescu I,et al.A sixaxis single-stage active vibration isolator based on Stewart platform[J].Journal of Sound&Vibration,2007,300(3):644-661.
[10]刘丽坤,郑钢铁.采用多作动器并联隔振平台的整星半主动隔振研究[J].上海航天,2008,25(06):39-42.Liu Likun,Zheng Gangtie.Study of semi-active parallel multi-actuator platform for whole-spacecraft vibration isolation[J].Aerospace Shanghai,2008,25(06):39-42.
[11]Zhang Y,Zang J,Fang B.Dynamic characteristics of integrated active and passive whole-spacecraft vibration isolation platform based on non-probabilistic reliability[J].Transactions of the Japan Society for Aeronautical&Space Sciences,2014,57(5):263-271.
[12]Zhu X,Jing X,Cheng L.Magnetorheological fluid dampers:A review on structure design and analysis[J].Journal of Intelligent Material Systems&Structures,2012,28(3):839-873.
[13]Devasia S,Meressi T,Paden B,et al.Piezoelectric actuator design for vibration suppression-placement and sizing[J].Journal of Guidance Control&Dynamics,2015,16(5):1367-1372.
[14]Wu Z,Jing X,Sun B,et al.A 6-DOF passive vibration isolator using X-shape supporting structures[J].Journal of Sound&Vibration,2016,380:90-111.
[15]Zhou J,Wang K,Xu D,et al.A six-DOF vibration isolation platform supported by a hexapod of quasi-zerostiffness struts[J].Journal of Vibration&Acoustics,2017,139(3):034502-034502-5.
[16]Wu Y,Yu K,Jiao J,et al.Dynamic modeling and robust nonlinear control of a six-DOF active micro-vibration isolation manipulator with parameter uncertainties[J].Mechanism&Machine Theory,2015,92:407-435.
[17]刘延柱.高等动力学[M].北京:高等教育出版社,2016.Liu Yanzhu.Advanced Dynamics[M].Beijing:Higher Education Press,2016.
[18]郑金华.多目标进化算法及其应用[M].北京:科学出版社,2007.Zheng Jinhua.Multi-objective Evolutionary Optimization and Its Application[M].Beijing:Science Press,2007.
[19]Deb K,Pratap A,Agarwal S,et al.A fast and elitist multiobjective genetic algorithm:NSGA-II[J].IEEETransactions on Evolutionary Computation,2002,6(2):182-197.
[20]肖晓伟,肖迪,林锦国,等.多目标优化问题的研究概述[J].计算机应用研究,2011,28(03):805-808.Xiao Xiaowei,Xiao Di,Lin Jinguo,et al.Overview on multi-objective optimization problem research[J].Application Research of Computers,2011,28(03):805-808.
[21]程明,陈照波,杨树涛,等.应用磁流变技术的星箭界面半主动隔振研究[J].振动工程学报,2017,30(1):86-92.Cheng Ming,Chen Zhaobo,Yang Shutao,et al.Study of semi-active satellite and rocket system vibration isolation using magnetorheological technology[J].Journal of Vibration Engineering,2017,30(1):86-92.