摘要
多自由度振动控制、指向控制平台是建立各种复杂机动光学系统之前必须突破的一项关键技术。其中六自由度-SPS并联机器人类型的振动与指向控制平台以其负载大、通用性强,更是得到了从航空航天到海洋深潜等领域了广泛的应用。本文正是依托国家高技术发展计划(863)重大专项基金资助,针对六自由度平台机电系统运动学、动力学和自动控制理论,结合六自由度平台系统的控制实际,展开深入研究,主要包括以下研究内容：
(1)分析了6DOF平台的基本几何关系,即位姿和腿长的关系。采用牛顿迭代法解决了6DOF平台位姿正解以及实际运用于控制系统,通过实验证明,该方法实用有效。在此基础上,又分析了腿长的速度和加速度变化对平台位姿的影响与对应关系,即一阶和二阶运动影响系数。并且由此推导出了平台的可达工作空间和可达速度空间。基于平台的运动学正解,分析了平台的误差源及其大小对平台位姿定位精度的影响。对于实际使用平台前的重要步骤,经过理论分析,然后使用陀螺仪对平台的静态位姿精度进行了标定。
(2)建立了平台的动力学模型。对平台的刚度进行了分析,得到了额定负载时平台不同位姿下各个支腿的受力情况表。然后,根据实际平台情况,建立了平台的动态受力模型。最后,通过对平台单支腿频率响应试验,得到了不同负载下输入输出时域数据,再通过系统辨识的方法,辨识出了实际支腿的传递函数,为平台的位姿控制打下了基础。
(3)重载6DOF-Stewart平台要作为一个有效的机电系统,离不开伺服控制系统(硬件)和适当的控制律(软件)。对平台的伺服控制系统和控制律进行了研究分析。首先对伺服系统的电机和驱动放大器的参数,工控机和驱动放大器间的通信协议,工控机所运行的软件环境进行了详细描述,这些参数就是平台动态性能指标的基础。其次,对伺服系统的机电系统特性,尤其是对滚珠丝杠作动器(电动缸)的机电特性进行了分析。经过整定后的电机和驱动放大器通过和滚珠丝杠电动缸相结合成为了一个完整的分系统,建立了单支腿系统的数学模型。根据平台机电伺服系统的参数,提出了基于Lypunov第二法的Narendra模型参考自适应控制方案,通过计算仿真,可以得出采用该方案可以有效提高系统动态跟踪精度。
Multi degree of freedom platform for vibration and pointing control is one of the key techniques for complex optomechatronics system. The6DOF platform have a highlight advantage of ability to heavy load and commonality, so widely used for aerospace to deep diving now. The research works of this dissertation are based on a major project of Chinese national high technology development plan (863). In view of the difficulty to several key technological problems in the application of the six degrees of freedom Stewart platform, which includes kinematic, calibration, dynamic and automatic control theory, which were validated by the experiments of the real platform. The main works can be described as follows.
The basic relationship of6DOF platform, position and posture of move platform to struts length are analysed. A numerical approach to solving the forward kinematic problem by Newton iterative method will be presented here. Using the Jacobian matrix and first order Jacobian matrix can determine an incremental Cartesian displacement of the move platform, associated with an incremental set of strut displacements. The workspace and velocity Envelope evaluation for the6DOF platform deduced. Analyzing the resource of error, we get some related spectra map, top plat position and posture error corresponding with every error resource respectively. We presents a new accurate method for calibration of the6DOF platform of symmetry construct kinematic parameters by a gyro instrument.
The dynamic model of6DOF parallel manipulator is developed using the principle of virtual work. The actuating force of each electromechanical actuators in different position and posture is obtained, which has built for the simulation analysis of the dynamic coupling between the six comprised subsystems. We focuses in the modeling of an electromechanical linear actuator to be used in a heavy load six-degrees-of-freedom platform application by experimental result of frequency response. After obtaining the structure of model, transfer function parameters can be derived by system identification.
Control system is the core of6DOF platform as a effectively electromechanical system, included hardware (synchronous motors, servo drivers and electromechanical linear actuators) and software(communication protocol and control strategy). Based on existing hardware system, especial considering the characteristic of single strut system, control strategy of the platform system are discussed. In addition, considering about the characteristics of nonlinearity, time varying, and multivariable coupling of the system, Narendra model reference adaptive scheme of Lyapunov Second Method is developed, which can enhance the control performance for system stabilization time. The simulated results show that the control system achieves a better tracking performance and the control system has strong robustness.
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