摘要
基于并联机器人的坦克模拟器是模拟坦克路面作战的设备,它可以代替实车进行驾驶员及车炮长培训。因其自身无可比拟优越性(训练不受时间、天气、地点的限制等),在世界各国得到广泛应用。本文以实验室自行研制的六自由度一体式坦克模拟器为研究对象,对其结构特点、运动学、动力学、误差、螺旋耦合及控制系统进行分析研究,对六自由度一体式坦克模拟器平稳运动控制的深入研究具有重要意义。
本文在充分调研国内外坦克模拟器及并联机器人发展概况及研究现状的基础上,对六自由度一体式坦克模拟器进行运动学建模,为机构速度、加速度的分析及误差模型的建立的奠定基础；建立模拟器动力学模型,为控制硬件的选型奠定基础；同时,利用仿真软件进行简单仿真分析。
通过分析误差建模的方法,建立自身的误差模型。基于研究对象的结构参数值,利用所建立的误差模型进行实际计算分析,对于同样的杆长误差,在不同位姿下所产生的位姿误差是不同的,且为非线性变化。
在Plucker坐标下,针对六自由度一体式坦克模拟器中存在的螺旋耦合进行分析验证。推导螺旋耦合公式,并基于所建立的误差模型分析螺旋耦合所产生的杆长误差对运动平台位置误差的影响。提出机构-模型联合实验方法,考虑控制器及电机对控制曲线的影响,对螺旋耦合补偿方法进行实验研究。实验结果表明,该螺旋耦合补偿提高了坦克模拟器运动的平稳性和准确性,降低抖动幅度,延长使用寿命,为模拟器的运动控制进行了有益的探索。
通过对驱动方式的比较,根据自身的实际情况,选定一体式坦克模拟器驱动方式。对控制系统的硬件和软件分别进行设计,并完成控制柜的设计及调试。
As the equipment for simulate combating on the road, Tank Simulator which based on parallel robot is took for drive and fighting training instead of the real Tank. Nowadays Tank Simulator is widely used for its advantages such as it is not restricted by time, climate and place while training. Taking the 6-DOF integrated Tank Simulator as the research object, this paper studied its structure, kinematics, error, screw coupling and control system which has a significance in depth study for the smooth moving control of 6-DOF integrated Tank Simulator.
Based on the study of domestic and foreign research about Tank Simulator and parallel robot, the kinematics model is builds for analyze the velocity and acceleration as well as error molding. The dynamic model is also established to provide a theoretical basis for designing hardware of controlling system. Besides, the simulation analysis of molding is also taken.
The error molding of 6-DOF integrated Tank Simulator is set up according to studying the molding methods. Based on the geometric parameters of Tank Simulator, this paper takes an example to research error molding. The results show that moving plate error appears nonlinear variation along with the same length error of legs in the linear changing positions.
The screw coupling of 6-DOF integrated Tank Simulator is analyzed in Plucker coordinates which use screw theory. Through deriving the coupling angle and velocity based on inverse kinematics model, the error of moving plate is calculated with the error molding. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the screw coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude and prolonging service life of Tank Simulator. This paper processes positive research for motion control of Simulator.
According to the performance comparison of drive mode and the characteristics of 6-DOF integrated Tank Simulator, this paper took electric as its own. The hardware and software of controlling system is designed. Besides, this paper also design and debugging the control cabinet.
引文
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