【作者】 仇原鹰；

【导师】 段宝岩；

【作者基本信息】 西安电子科技大学 ， 机械制造及其自动化， 2002， 博士

【摘要】 在建立非线性舱索系统静平衡方程的基础上，采取使驱动力均匀的优化配置策略，建立了大跨度柔性舱索系统的稳态位置控制模型，实现了基于索长调整的馈源舱开环运动控制。 发现了馈源工作曲面上的力奇异曲线，提出了修改索耳结构分布和增加下拉悬索两种消除奇异性的有效方案，保证了馈源舱的平稳运行。 探索了一套完整的用于非线性舱索结构随机风振模拟的分析方法和模拟软件，模拟预测了在风荷干扰下悬索对馈源舱的可控精度。预测结果为制定馈源跟踪两级控制系统的精度分配方案提供了依据。此外，还模拟预测了舱索结构发生大幅度涡激共振的可能性。 通过大量的机电光一体化模型实验研究，发现和消除了舱索机构开环运动控制模型的几种误差。在模型修正的基础上，进行了机构的多种开环实验。同时对舱索结构随机风振和涡激共振的计算模拟结论进行了验证。 基于Newton-Euler方法，建立了充分考虑动平台惯性、支腿惯性、关节摩擦等因素的Stewart平台控制动力学模型，解决了已知动平台运动规划，求关节驱动力的动力学逆问题，为准确实现LT500m原型Stewart平台控制奠定了基础；解出了各关节处的约束反力，为平台机构设计提供了力分析条件；简化给出了平台对馈源舱的反作用力，使得采用振动主动控制技术消除两级子系统之间的动力耦合成为可能。 根据运动学、静力学和动力学的三种Jacobian变换矩阵结构，研究了类Stewart平台结构的并联机器人运动奇异性、静力奇异性和动力奇异性三者之间的关系，得出了三种奇异性同时发生的结论。更多还原

【Abstract】 Based on the nonlinear equilibrium equation of the cable-cabin system, a stationary model for position control of the flexible cable-cabin system with large span is established through optimal strategy on the distribution of the driving forces. Thus the unlooped control of movement of the cabin is realized by adjusting the lengths of the cables coordinately.The singularity curves are founded on the working surface of the feed. Further two schemes to eliminate the singularity are proposed. One of the schemes improves the distribution of the connecting points among the cabin and cables and the other increases redundant cables. By these ways a smooth movement of the cabin is ensured. A systemic analyzing method and the special simulating software for wind-induced vibration of the cable-cabin structure are programmed. By which the controllable precision on the cabin with the cables is estimated under wind disturbing. The estimation is valuable to the allotment on the precisions between the two control subsystems for the feed tracking. Furthermore the possibility of vortex-induced resonance of the cable-cabin structure is estimated too.Several errors of the model of the cable-cabin mechanism for unlooped control are founded and eliminated through a lot of optomechatronics experiments. Further some unlooped experiments are made. Besides the simulating on wind-induced vibration and vortex-induced vibration of the cable-cabin structure are all validated.Based on Newton-Euler method a dynamic model for Stewart platform control is constituted which involves the inertias of the platform and six legs and frictions at joints. Through the model the inverse dynamic problem of Stewart platform is solved and a foundation is made for Stewart platform control used for 500m LT. Meanwhile all the restrained forces acted at joints are found which provide analysis condition for the mechanism design. A simplified resultant force acted on the cabin by Stewart platform is given which makes it possible to eliminate the dynamic coupling between the two subsystems by means of active vibration control.According to the structures of Jacobian matrixes of kinematics, statics and dynamics, the relationships among kinematic singularity, static singularity and dynamic singularity are explored on the parallel manipulators similar with Stewart platform. It is found that the three kinds of singularities occur simultaneously.更多还原