3自由度飞行模拟运动平台的动力学及参数辨识研究
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摘要
以一种具有一平动两转动自由度的新型并联飞行模拟运动平台为对象,研究其满足飞行动感模拟要求的动力学建模及参数辨识的方法。根据平台的结构特点对平台进行运动学分析,在此基础上采用拉格朗日法建立平台的动力学模型。研究动力学模型的简化方法,该方法采用次对角线消去法简化动力学模型中的速度系数矩阵和惯量矩阵,保证动力学模型准确性的同时提高其计算速度。研究平台动力学参数的分步辨识策略,该策略通过选择适当的运动轨迹分两步辨识平台的动力学参数,采用最小二乘法计算出待辨识参数并代替理论模型中的参数,以提高动力学模型的精确性。最后通过MATLAB和ADAMS仿真对比验证动力学建模方法及参数辨识策略的正确性和有效性。
In this article,the method of dynamic modeling and parameter identification for a new parallel flight-simulation motion platform with a translational and two-rotational degree of freedom is presented. The model aims to meet the requirement of flight simulation. With the foundation of kinematic analysis,Lagrange Method is adopted to establish the platform's dynamic model. In order to improve the speed of calculation,the sub-diagonal elimination method is applied to simplify the velocity coefficient matrix and the inertia matrix in the dynamic model. Besides,in order to heighten the model's accuracy,the multiple-step identification strategy is analyzed. The dynamic parameter are identified in two steps by choosing proper trajectory and derived by the least square method. Finally,the correctness and effectiveness of dynamic modeling and parameter identification are verified with the aid of MATLAB and ADAMS simulation.
In this article,the method of dynamic modeling and parameter identification for a new parallel flight-simulation motion platform with a translational and two-rotational degree of freedom is presented. The model aims to meet the requirement of flight simulation. With the foundation of kinematic analysis,Lagrange Method is adopted to establish the platform's dynamic model. In order to improve the speed of calculation,the sub-diagonal elimination method is applied to simplify the velocity coefficient matrix and the inertia matrix in the dynamic model. Besides,in order to heighten the model's accuracy,the multiple-step identification strategy is analyzed. The dynamic parameter are identified in two steps by choosing proper trajectory and derived by the least square method. Finally,the correctness and effectiveness of dynamic modeling and parameter identification are verified with the aid of MATLAB and ADAMS simulation.
引文
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[9]王丹,刘少欣,陈五一.基于并联机构的Kane法动力学模型参数辨识技术研究[J].机械设计,2015,32(10):28-32.
[10]张志旭,洪振宇,张亚伟,等.一种少自由度飞行模拟实验台的尺度综合方法[J].机械科学与技术,2017,36(3):487-492.
[2] Li Y,Xu Q. Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism[J]. Robotica,2005,23(2):219-229.
[3] Gao S H,Fan R,Wang D. Dynamic modeling and modelbased force control of a 3-DOF translational parallel robot[J].Advanced Materials Research,2014,1006-1007:609-617.
[4] Xin G,Deng H,Zhong G. Closed-form dynamics of a 3-DOF spatial parallel manipulator by combining the Lagrangian formulation with the virtual work principle[J]. Nonlinear Dynamics,2016,86(2):1-19.
[5]郭菲,李永泉,李玉昆,等.电液驱动3-UPS/S并联稳定平台的动力学参数辨识[J].中国机械工程,2016,27(21):2862-2868.
[6] Díaz-Rodríguez M,Mata V,Angel Valera,et al. A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters[J]. Mechanism&Machine Theory,2010,45(9):1337-1356.
[7] Chen C T. Hybrid approach for dynamic model identification of an electro-hydraulic parallel platform[J]. Nonlinear Dynamics,2011,67(1):695-711.
[8]黄田,陈闯,王辉.一种新型并联动力头动力学参数辨识方法研究[J].机械工程学报,2013,49(19):31-39.
[9]王丹,刘少欣,陈五一.基于并联机构的Kane法动力学模型参数辨识技术研究[J].机械设计,2015,32(10):28-32.
[10]张志旭,洪振宇,张亚伟,等.一种少自由度飞行模拟实验台的尺度综合方法[J].机械科学与技术,2017,36(3):487-492.