六自由度电动平台控制系统设计
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摘要
六自由度并联运动平台具有刚度大、便于实时控制、精度高、误差小、承载能力大等优点,是近几十年发展起来的新型产品,广泛应用于航空航天领域、汽车制造领域、船舶、医疗诊断、生物工程及民用娱乐等领域逐渐成为机器人领域的研究热点。近些年来,对于六自由度并联运动平台实时控制方法的研究引起了世界上众多学者的广泛关注。
本文首先介绍了六自由度电动平台的组成机构,基于SolidWorks软件建立了三维实体模型,并建立了平台的运动学模型,采用矩阵分析方法进行六自由度运动平台的运动学反解分析,为实时控制软件的编制提供了理论依据。
本文采用哈尔滨工业大学博实精密公司研制的多轴运动控制器MAC作为控制主体,基于“工控机+运动控制卡”的模式,构建了一个开放式的六自由度电动平台控制系统。基于Windows平台,采用功能模块化设计方法开发了控制软件,实现了六自由度电动平台的基本控制功能。
本文介绍了六自由度电动平台控制系统的总体硬件结构及各组成部份的相关参数与功能。采用Visual C++编程语言对控制软件进行了功能开发,对主要功能模块进行了介绍。建立了六自由度电动平台的故障保护系统及故障监控系统,并详细介绍了系统组成部分及实现过程。
基于六自由度电动平台控制系统,进行了相关控制运行实验。六自由度电动平台在实验过程中定位精度高、运动平稳,振动小,噪音低,故障发生时能实现可靠保护以及平台伺服系统发生故障时能够实时远程监控,从而验证了控制系统软、硬件的有效性及故障保护系统和故障监控系统的可靠性。
6-dof Parallel motion platform is characterized by the high rigidity, suitable for real time control, low error rate and high precision. It is a new type of Product developed in the recent years.6-dof Parallel motion platform is widely used in many important applications such as aviation,spaceflight, auto-motive industry, shipping, medical instrument, biological engineering and amusement and so on, thus becomes a new heating field of study. These years, the research for the 6-dof Parallel motion platform's real time control method interests many scholars all over the world.
The composition of the 6-dof electric platform are introduced firstly in this dissertation. Three-dimensional model is established based on the SolidWorks software.The kinematic model of 6-dof electric platform is also established and the inverse kinematics of the 6-dof electric platform is analyzed by the vector analyses approach. This result is base of the software of the real time control.
This dissertation applies the current high-powered servo controller MAC made by Harbin institute of Technology BoShi Corporation as the main body, based on "IPC+MAC", constructed an open numerical control system of 6-dof electric platform. The control software is designed with the functional modularization, based on Windows Operating System. The basic control functions of 6-dof electric platform are realized.
This dissertation described the overall structure and parameters and functions of the components of hardware system. The function of this applied software program is developed with Visual C++, and the main modules are introduced in detail in this dissertation. Fault Protection System and Fault Monitoring System is established, and the components and the implementation process is described in detail.
Experiments were performed based on the control system for 6-dof electric platform. The high positioning accuracy, better moving stability, lower vibration, less noise, etc, are shown in the operation of the 6-dof electric platform. And also, when failure occurs, reliable protection is realized, Servo failure of 6-dof electric platform can be timely monitored, consequently demonstrate the validity of hardware and software and the reliability of Fault Protection System and Fault Monitoring System.
本文首先介绍了六自由度电动平台的组成机构,基于SolidWorks软件建立了三维实体模型,并建立了平台的运动学模型,采用矩阵分析方法进行六自由度运动平台的运动学反解分析,为实时控制软件的编制提供了理论依据。
本文采用哈尔滨工业大学博实精密公司研制的多轴运动控制器MAC作为控制主体,基于“工控机+运动控制卡”的模式,构建了一个开放式的六自由度电动平台控制系统。基于Windows平台,采用功能模块化设计方法开发了控制软件,实现了六自由度电动平台的基本控制功能。
本文介绍了六自由度电动平台控制系统的总体硬件结构及各组成部份的相关参数与功能。采用Visual C++编程语言对控制软件进行了功能开发,对主要功能模块进行了介绍。建立了六自由度电动平台的故障保护系统及故障监控系统,并详细介绍了系统组成部分及实现过程。
基于六自由度电动平台控制系统,进行了相关控制运行实验。六自由度电动平台在实验过程中定位精度高、运动平稳,振动小,噪音低,故障发生时能实现可靠保护以及平台伺服系统发生故障时能够实时远程监控,从而验证了控制系统软、硬件的有效性及故障保护系统和故障监控系统的可靠性。
6-dof Parallel motion platform is characterized by the high rigidity, suitable for real time control, low error rate and high precision. It is a new type of Product developed in the recent years.6-dof Parallel motion platform is widely used in many important applications such as aviation,spaceflight, auto-motive industry, shipping, medical instrument, biological engineering and amusement and so on, thus becomes a new heating field of study. These years, the research for the 6-dof Parallel motion platform's real time control method interests many scholars all over the world.
The composition of the 6-dof electric platform are introduced firstly in this dissertation. Three-dimensional model is established based on the SolidWorks software.The kinematic model of 6-dof electric platform is also established and the inverse kinematics of the 6-dof electric platform is analyzed by the vector analyses approach. This result is base of the software of the real time control.
This dissertation applies the current high-powered servo controller MAC made by Harbin institute of Technology BoShi Corporation as the main body, based on "IPC+MAC", constructed an open numerical control system of 6-dof electric platform. The control software is designed with the functional modularization, based on Windows Operating System. The basic control functions of 6-dof electric platform are realized.
This dissertation described the overall structure and parameters and functions of the components of hardware system. The function of this applied software program is developed with Visual C++, and the main modules are introduced in detail in this dissertation. Fault Protection System and Fault Monitoring System is established, and the components and the implementation process is described in detail.
Experiments were performed based on the control system for 6-dof electric platform. The high positioning accuracy, better moving stability, lower vibration, less noise, etc, are shown in the operation of the 6-dof electric platform. And also, when failure occurs, reliable protection is realized, Servo failure of 6-dof electric platform can be timely monitored, consequently demonstrate the validity of hardware and software and the reliability of Fault Protection System and Fault Monitoring System.
引文
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[37]张尚盈,赵慧,韩俊伟.六自由度运动平台实时控制的正/反解算法.机床与液压.2003.(3)：133-135,123.
[38]I. Davliakos, E. Papadopoulos, Model-based control of a 6-dof electro hydraulic Stewart Gough platform Mech. Mach. Theory(2008), doi:10.1016/j. Mechmachtheory.2007.12.002.
[39]Cetin Elmas, Oguz Ustun. A hybrid controller for the speed control of a permanent magnet synchronous motor drive, Control Engineering Practice 16(2008)260-270.
[40]郭琳,汪苏.基于C#的开放式机器人控制系统软件实现.机械工程师.2008.11：49-52.
[41]孟健.基于PMAC的开放式数控系统的应用研究与开发.中国自动化在线.2001.6：16-17.
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[43]郭磊,甘东明,廖启征,等.一种新型3P-6SS并联机构的运动控制.中国机械工程.2008.19(9)：1013-1015.
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[61]George Kaufman. PC-Based Motion Control through Software. Control Engineering, 2000.47:107-108.
[2]Murthy. V, Waldron K J. Position Kinematics of the Generalized Lobster Arm and its Series-Parallel Dual.ASMEJ of Mech.1992,114:406-413.
[3]D.Stewart. A Platform with Six Degrees of Freedom. IMechE,1965,180(15):371-386.
[4]M. Minsky. Manipulator Design Vignettes. MIT AI Memo, MIT AI Laboratory.1972,267:115-127.
[5]Sjirk Koekebakker. Model Based Control of a Flight Simulator Motion System. PhD thesis, Delft University of Technology.2001:13-17.
[6]Hunt. Kinematic Geometry of Mechanism. Oxford:Clarendon Press.1978:37-41.
[7]H.Mac. Call ion, D. T. Pham. The Analysis of a Six Degrees of Freedom Work Station for Mechanized Assembly. Proc.5 th. world congress on theory of Machines and Mechanisms. Montreal,1979,7:6-11.
[8]Marconi. Development of the Tetrabot Robotics. Manipulator Research Report. Marconi Research Centre.1986:9-15.
[9]R. Clavel. Une Nouvelle Structure de Manipulator Pour Larobotique Legere. APII. 1989,23:501-510.
[10]F. Pierrot, M. Uchiyama and P. Dauchez. A. Fournier. A New Design of a 6-DOF Parallel Robot. Proc.23 rd Int Symp. on Industrial Robots. Barcelona.1992,10:771-776.
[11]杜铁军.机器人误差补偿器研究：(硕士学位论文).秦皇岛：燕山大学,1994：1-9.
[12]黄真.空间机构学.北京：机械工业出版社,1989：1-7.
[13]黄真,孔令富,方跃法.并联机器人机构学理论及控制.北京：机械工业出版社,1997：1-10.
[14]Yi Lu, Yan Shi, Zhen Huang, et al. Kinematics/statics of a 4-DOF Over-constrained Parallel Manipulator with 3 legs. Mechanism and Machine Theory,2009,44(8):1497-1506.
[15]Yanbin Zhang, Hongzhao Liu, Xin Wu. Kinematics Analysis of a Novel Parallel Manipulator. Mechanism and Machine Theory,2009,44(9):1648-1657.
[16]Jingyan Dong, Qing Yao, Placid M. Ferreira. A Novel Parallel-kinematics Mechanism for Integrated, Multi-axis Nanopositioning:Part 2:Dynamics, Control and Performance Analysis. Precision Engineering,2008,32(1):20-33.
[17]S.Modic. Virtual Axis Machining-the Shape of Things to Come. Tooling & Production, 1994,7:13-14.
[18]H. J. Warnecke, R. Neggebauer and F. Wieland. Development of Hexapod Based Machine Tool. Annals of the CIRP,1998,47(1):337-340.
[19]L. Romdhane. Design and Analysis of a Hybrid Serial-parallel Manipulator. Mechanism and Machine Theory,1999, (34):1037-1055.
[20]Rene Graf, Ralph Vierling, Rudiger Dillmnna. A Flexible Controller For a Stewart Platofmr. Proeeedings KES'98.1998 Second Intemational Conefrenee on,1998(2):52-59.
[22]Daniel Kanaan, Philippe Wenger, Damien Chablat. Kinematic Analysis of a Serial-parallel Machine Tool:The VERNE Machine. Mechanism and Machine Theory,2009,44(2):487-498.
[23]杨芳,曲广吉,杨雷.空间对接中差动式缓冲阻尼机构的建模研究.中国空间科学技术.1996,(3)：1-8.
[24]李瑞琴.6-SPS型并联机器人机构的开发应用.华北工学院学报.1996.17(1)：20-25.
[25]孔宪文.六自由度并联机器人动力学方程.机器人.1991(4)：153-160.
[26]梁崇高,荣辉.一种Stewart平台型机械手位移正解.机械工程学报,1991.27(2)：26-30.
[27]贺静6PUS-UPS并联机器人控制系统开发与实验研究：(硕士学位论文).秦皇岛：燕山大学,2010.
[28]刘首伟.基于VRML的Stewart平台结构干涉校核研究：(硕士学位论文).大连：大连海事大学,2010.
[29]杨达毅,陈丽敏.基于SolidWorks的六自由度液压平台运动仿真.机床与液压.2008.36(9)：127-130.
[30]刘剑.基于虚拟仿真的新型六自由度平台的实时控制：(硕士学位论文).上海：上海交通大学,2008.
[31]张兆印.六自由度并联机器人的运动学分析.黑龙江大学自然科学学报.1992.9(2)：52-57.
[32]王喜仓SolidWorks 2009实用教程.北京：清华大学出版社,2010：21-68.
[33]李木国,刘于之,张群,王静.电机伺服系统中的数字控制技术研究与实现.计算机测量与控制.2010.18(5)：1082-1084.
[34]张兆印,佟俊华.六自由度并联机器人控制算法分析与实现.微电子学与计算机.1994.3：33-36.
[35]尹立一.电动六自由度运动系统控制策略研究：(硕士学位论文).哈尔滨：哈尔滨工业大学,2009.
[36]甘红胜.六维动感平台控制系统的研究与开发：(硕士学位论文).上海：上海交通大学,2004.
[37]张尚盈,赵慧,韩俊伟.六自由度运动平台实时控制的正/反解算法.机床与液压.2003.(3)：133-135,123.
[38]I. Davliakos, E. Papadopoulos, Model-based control of a 6-dof electro hydraulic Stewart Gough platform Mech. Mach. Theory(2008), doi:10.1016/j. Mechmachtheory.2007.12.002.
[39]Cetin Elmas, Oguz Ustun. A hybrid controller for the speed control of a permanent magnet synchronous motor drive, Control Engineering Practice 16(2008)260-270.
[40]郭琳,汪苏.基于C#的开放式机器人控制系统软件实现.机械工程师.2008.11：49-52.
[41]孟健.基于PMAC的开放式数控系统的应用研究与开发.中国自动化在线.2001.6：16-17.
[42]李爱平,张建国.NC嵌入PC型开放式数控系统的研究.组合机床与自动化加工技术.2001.12：31-32.
[43]郭磊,甘东明,廖启征,等.一种新型3P-6SS并联机构的运动控制.中国机械工程.2008.19(9)：1013-1015.
[44]郑魁敬,赵永生.基于PMAC的并联机床运动控制技术研究.机床与液压,2004.8：36-39.
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