摘要
摇摆试验台可以模拟各种空间运动姿态,在飞行模拟器、船舶运动模拟器、坦克模拟器和地震模拟器等领域有十分重要的应用。目前已有的试验台在精度和带载能力上还不能完全满足实际的需要,并且因采用液压驱动方式,维护成本高、容易产生污染。本文研究设计了一种新型的摇摆台系统,采用并联结构、电机驱动、半闭环和全闭环组合控制的方式,满足了静态定位精度高、连续摇摆运动平滑和高带载能力的要求。
本文首先对摇摆台的结构形式、运动插补技术和运动控制器技术进行了详细的论述。利用先进的约束螺旋理论消除虚约束的影响并对摇摆台进行了自由度分析。数字仿真验证了机构设计和理论分析的正确性。随后,论文对摇摆台进行了运动学分析,求得了位置逆解的解析表达式。同时还讨论了特定输入条件下的运动正解。分析结果表明,在合适的电动缸伸缩量条件下,摇摆台运动正解也是唯一的,确保了摇摆台位置控制的准确性和唯一性。
本研究利用运动控制卡、伺服电缸和高精度光电编码器构建了半闭环和全闭环组合控制系统。设计了连续转动和点动两种运动模式下的控制方案,并实现了连续转动中的零速启动。
在简要介绍运动控制卡开发环境后,给出了两种运动模式的软件实现方案。为方便用户操作和监控摇摆台实际运动情况,通过利用运动控制卡和数字I/O卡控件,利用VB.NET设计了计算机显示及监控软件,界面方便、友好。
最后在不同的运动模式下,对系统的定位精度进行了实验证。实验数据表明,摇摆台静态定位误差可达到15角秒。通过误差补偿,双轴正弦摇摆运动的失真度小于5%。
The 3-DOF platform can simulate different spatial attitudes, which is of great important in various motion simulation, such as aircraft、ship moving、tank and earthquake simulator. At present, there are several similar platforms, but the precision and load can not meet the requirements; and further, most of the platforms are driven by hydraulic, which need higher maintenance cost. A new mechanism of 3-DOF of parallel driven platform is proposed. The combination of semi-closed loop and full-closed loop control methods can ensure both static precision and dynamic smoothness.
At first, the paper provides overview about structures of platform、interpolation technology and motion controller. Afterwards, the paper gives position solution for the platform; and the reverse solution expression was solved exactly. And further, the paper also provides a numerical inverse solution to indicate that the attitude can be determined on condition that the input is appropriate. These two solutions can ensure the exactness and uniqueness of position control.
motion controller, servo system and high precision encoder. Two moving patterns, continuous and step moving, was designed; and the zero-speed start was realized.
Thirdly, software is an important part of the system, including motion controlling software and PC-based software, which were separately developed.
Finally, some experiments were conducted to analysis the system’s precision in different moving patterns. The data resulted that the full-closed loop control can improve the precision significantly to 15 angular seconds in step moving; and the requirements of continuous moving can also be met by error compensation; and the waveform distortion was below 5%.
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