【作者】 赵振民；

【导师】 孙立宁；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2011， 博士

【摘要】 为了从技术上根本解决危化品在生产、运输、仓储、使用全寿命周期内的安全问题,我国开展了针对各种危化品在上述环节中的安全监测与跟踪系统的技术研究。而检验有关危化品监测用传感器及其集成系统的性能,是保障危化品监测传感器及系统研究、产业化及应用的基础。目前对危化品监测用传感器及其集成系统性能测试采用真实罐车陆路或船舶海上运输的方法,来验证有关传感器在不同工况下的真实准确性和可靠性,这种测试方法存在测试周期长、测试成本高、风险性大、测试的工况有限、出现性能问题难以重复实验造成分析困难等缺点。针对陆路或海上真实测试存在的缺点,本文研制了危化品运输半实物仿真与实验系统。实验系统的运动模拟器采用具有6个自由度的Hexaglide并联机构,来模拟车船的实际运行状态,对危化品监测与跟踪微系统的可靠性和安全性进行实验和验证。本文采取虚拟样机技术和半物理系统实验相结合的方法进行研究,采用ADAMS建立罐装车及半挂车的系统模型,形成功能性虚拟样车。对虚拟样车进行整车动态回转仿真实验、转向盘转角阶跃输入仿真实验、方向盘角脉冲输入仿真实验和转向轻便性仿真实验,仿真实验的数据正确遵循了汽车操作稳定性的规律和要求,验证了虚拟样车模型的合理性。截取环岛和换道两种工况,进行仿真实验和实车实验对比,结果表明仿真实验结果与实车道路实验对应的参数曲线吻合度高,数值误差在6%以内,验证了汽车虚拟样机模型与参考原型车之间动态响应的一致性,在基于双移线、变速直线、不平路面、凹凸路面等典型特殊工况仿真表明了虚拟样车仿真的有效性,为仿真平台设计奠定了良好基础。基于频谱分析方法,用方向谱代替海浪谱,实现了一种基于方向谱的船舶振荡运动计算方法并以之为基础建立了船舶振荡仿真系统。利用船舶振荡仿真系统,对不同船速、风速、船舶航向情况进行仿真,并将仿真结果和Seakeeper仿真软件在相同条件下的仿真结果进行对比,验证船舶振荡仿真系统的正确性。因此采用虚拟样机技术,并结合陆路和海上各种运输工况的仿真模型,生成危化品运输工况虚拟实验场景,得到相应工况下运动模拟器状态输入。根据模拟车船运行的需要,运动模拟器采用6自由度Hexaglide机构与控制模块组成,采用交流伺服电机驱动,由滚珠丝杠和导轨将电机的转动变换为滑块的直线运动。在结构上提供一个方向的纯移动,并且这个方向的移动量只受导轨长度的限制,移动工作空间容易得到扩展,使机构的移动方向和车船的前进方向相同,能够获得较长的加、减速时间,可以更好的模拟车船的真实运动情况。在确定运动模拟器的构型后,进行机构的运动学分析,研究机构位姿逆解求解算法,并建立速度和加速度的映射关系。在运动学分析的基础上,又进一步分析了机构的工作空间和灵巧度。为使分析结果更具有工程实用性,定义了工程上使用频率最高的核心工作空间,并对其灵巧度的分布进行了仿真。为完成仿真平台的机构综合,又深入分析了机构参数对位置工作空间、核心工作空间及机构灵巧度的影响,在此基础上,利用所提出的机构参数优化流程完成了机构参数的优化,并验证了优化结果的优异性。最后,搭建运输模拟器实验平台,对模拟器控制系统的软、硬件进行设计,在PC上的TwinCAT软件环境下的仿真实验,验证了所编写程序的正确性和可行性。通过电机控制实验验证了各电机跟踪输入位置信号的能力。实际工况输入信号的运动复现实验和虚拟输入信号的运动复现实验,验证了各种实际工况输入信号和虚拟输入信号的实际输出位移曲线与给定的输入位移曲线的吻合程度高,表明控制系统位置跟踪性能强,实验平台能够模拟车船的实际运行状态。更多还原

【Abstract】 In order to technically find the fundamental solution to the security issues of hazardous chemicals in production, transportation, storage and the using of the full life cycle, China has carried out technological researches for a variety of hazardous chemicals in the areas of security monitoring and tracking system. And testing the performance of the sensor and its integrated system is the basis of protecting the research, industry and application of the sensors and systems monitoring. Nowadays people use real tank truck or freight transported by land or by sea to test the performance of the sensor system and verify the true accuracy and reliability of the sensors under different conditions. This kind of testing has the defects of a long test cycle, high test costs, high risk and limited test conditions. And it’s difficult to repeat the experiment and analyze as performance problems appear.For the shortcomings of the real test in land or sea, the paper develops loop simulation and experimental systems for the transportation of hazardous chemicals. The motion simulator in the system using Hexaglide parallel mechanism with 6DOF simulates the actual operation state of the travel to experiment and verify the reliability and safety of hazardous chemicals monitoring and micro-system trackingThe system model of tank truck and trailers was established by using ADAMS software to form a functional virtual prototyping. The virtual prototype was conducted for rotary vehicle dynamic simulation experiments, the steering wheel angle step input simulation, Steering wheel angle pulse input simulation experiments and steering light simulation experiments. Simulation data correctly followed the rules and requirements of the stability of vehicle operation and evidenced that the virtual prototype model is reasonable. Take the Interception of both island and lane conditions to make simulation and real car experiment. It turns out that simulation experiment result showed High goodness of fit corresponding to the parametric curves of the real vehicle road test .The numerical error was less than 6%. It validates the virtual prototype model of the vehicle and the reference prototype, the consistency of the dynamic response. Based on double lane, up and down the ramp, rough road, uneven pavement, under special conditions typical simulation shows the effectiveness of virtual prototyping simulation lay a good foundation for simulation platform design.On the basis of spectral analysis method, directional spectrum is used instead of the wave spectrum to achieve the calculation of oscillating movement of the ship and establish a simulation system of a marine-based oscillations. To simulate different boat speed, wind speed, ship heading by using a ship vibration simulation system and compare the simulation results and those of the Seakeeper simulation software under the same conditions to verify the correctness of the simulation system of ship oscillations.At this point the virtual prototype technology, combined with the simulation model under a variety of land and sea transportation conditions generated virtual laboratory conditions for hazardous chemicals’transportation and obtain the input of motion simulator in the corresponding state.According to the need of simulating travel, motion simulator formed by a 6 DOF Hexaglide institutions and the control module use AC servo motor drive, ball screw and guide rails transformed the motor rotation into linear motion of the slider. It provides pure movement of one direction in the structure, and the amount of movement in this direction is only limited by the length of the rail, the moving space can be easily expanded, if the moving direction and the direction of the travel are the same, then it’s possible to get a longer deceleration time, and better simulate the real movement of travel. After having determined the configuration of motion simulator the kinematics analysis, as well as the research institutions pose inverse algorithm, was conducted, and the mapping of speed and acceleration was established. Based on the kinematic analysis, further analysis of the workspace and dexterity was made to make the results more practical engineering. The definition of the core work space used most frequently in engineering was given, and its distribution on the dexterity was simulated. For the completion of the synthesis of the simulation platform, in-depth effect analysis of body parameters was also made on the location of the work space, core work space and the institution dexterity. On this basis, the proposed optimization process completed the institutions optimization and verified the excellent results of the optimization. Finally, the proposed prototype is fabirated, on which the software and hardware of the control system are designed. The correctness and feasibility of programming is validated based on the simulation experiments in the TwinCAT environment. Motor control experiments verified the capability of motor position tracking input reference signals. The motion regeneration experiments of the actual input signal and virtual input signal verify that the actual output displacement curve of various input signals and the virtual input signal under actual conditions matched the given input displacement curve very well.The proposed system features a high performance of position tracking, which can be used for simulating various vehicles working conditions.更多还原