六维并联冗余振动台控制规划与实验关键技术研究
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摘要
振动台系统是振动工程研究工作中的重要试验设备之一。同串连机构振动台相比,并联结构的振动台具有刚度大、对称性好、速度高、机构紧凑、动力学性能好等优点。本文针对具有3-2-1结构的冗余驱动并联机构,进行了控制系统的规划,并对此机构的运动学、动力学、动平台的加速度检测以及基于六维加速度传感器的全闭环控制系统进行了比较全面的研究,具体内容如下:
1.在分析机构特点的基础上,进行控制系统软硬件的整体设计,包括驱动方式的选择、控制系统硬件结构的设计、控制系统软件结构设计。
2.应用六维力传感器的模型,结合广义牛顿第二定律的原理,设计出六维加速度传感器,分析传感器存在重力加速度会引起误差的缺点,制定两种加速度检测方案,消除误差。并给出加速度检测仿真图线。
3.应用Neton-Euler法建立6-PSS并联机构各杆和动平台的动力学方程,并进一步推导整个系统的动力学方程,给出其开式形式和闭式形式,并给出动力学仿真图,验证动力学模型的正确性。为基于动力学模型的控制奠定了基础。
4.详细分析振动台半闭环反馈控制系统,给出整个机电系统的数学模型并进行稳定性分析和位置调节器参数整定的工作。
5.提出六维振动台的自适应控制系统模型。在此系统中加入全闭环六维加速度反馈控制和前馈控制,使系统减小了误差、消除了抖动。
The vibration table is one of the most important test equipment in the research of the vibration engineering. Corresponding to the serial vibration table, the vibration table with parallel structure shows several advantages, such as, higher stiffness, better symmetry, higher velocity, better dynamics and compact structure. In this dissertation, control programming is presented to a new redundant activate parallel mechanism with 3-2-1 structure and studied in many fields, such as kinematics, dynamics, acceleration measuring of flatform, closed loop control system based on 6-axis acceleration sensor and so on.
1. Based on the analysis of mechanism character, the software and hardware of control system are designed, including selection of drive pattern, design of hardware and software structure.
2. A novel 6-axis acceleration sensor is presented using the modle of 6-axis force sensor and the theory of Newton’s second law. The sensor gets fault signal of acceleration for gravitational acceleration, so two schemes are made to get rid of the disturbance of gravitational acceleration. And the simulation-graph is given finally.
3. A formulation based on Newton-Euler equation is educed for the dynamic model of the 6-PSS parallel mechanism. The open-form and closed-form equations for the inverse dynamics of the holistic parallel mechanism were established. The driving force emulational curves for different curves translation proved the dynamic model proper. The dynamic model is the base of control.
4. The half feedback control loop system is analysed detailedly. The whole electromechani- cal mathematical model is educed and the stability of the system is analysed. The parameters of position control are setted.
5. Self-adaptive control system model of 6-axis vibration table is presented. Feedback control and feedforward control of 6-axis acceleration are both put in the closed loop to reduce the error of system and get rid of jitter of the platform.
1.在分析机构特点的基础上,进行控制系统软硬件的整体设计,包括驱动方式的选择、控制系统硬件结构的设计、控制系统软件结构设计。
2.应用六维力传感器的模型,结合广义牛顿第二定律的原理,设计出六维加速度传感器,分析传感器存在重力加速度会引起误差的缺点,制定两种加速度检测方案,消除误差。并给出加速度检测仿真图线。
3.应用Neton-Euler法建立6-PSS并联机构各杆和动平台的动力学方程,并进一步推导整个系统的动力学方程,给出其开式形式和闭式形式,并给出动力学仿真图,验证动力学模型的正确性。为基于动力学模型的控制奠定了基础。
4.详细分析振动台半闭环反馈控制系统,给出整个机电系统的数学模型并进行稳定性分析和位置调节器参数整定的工作。
5.提出六维振动台的自适应控制系统模型。在此系统中加入全闭环六维加速度反馈控制和前馈控制,使系统减小了误差、消除了抖动。
The vibration table is one of the most important test equipment in the research of the vibration engineering. Corresponding to the serial vibration table, the vibration table with parallel structure shows several advantages, such as, higher stiffness, better symmetry, higher velocity, better dynamics and compact structure. In this dissertation, control programming is presented to a new redundant activate parallel mechanism with 3-2-1 structure and studied in many fields, such as kinematics, dynamics, acceleration measuring of flatform, closed loop control system based on 6-axis acceleration sensor and so on.
1. Based on the analysis of mechanism character, the software and hardware of control system are designed, including selection of drive pattern, design of hardware and software structure.
2. A novel 6-axis acceleration sensor is presented using the modle of 6-axis force sensor and the theory of Newton’s second law. The sensor gets fault signal of acceleration for gravitational acceleration, so two schemes are made to get rid of the disturbance of gravitational acceleration. And the simulation-graph is given finally.
3. A formulation based on Newton-Euler equation is educed for the dynamic model of the 6-PSS parallel mechanism. The open-form and closed-form equations for the inverse dynamics of the holistic parallel mechanism were established. The driving force emulational curves for different curves translation proved the dynamic model proper. The dynamic model is the base of control.
4. The half feedback control loop system is analysed detailedly. The whole electromechani- cal mathematical model is educed and the stability of the system is analysed. The parameters of position control are setted.
5. Self-adaptive control system model of 6-axis vibration table is presented. Feedback control and feedforward control of 6-axis acceleration are both put in the closed loop to reduce the error of system and get rid of jitter of the platform.
引文
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