【作者】 温海营；

【导师】 丛明；

【作者基本信息】 大连理工大学 ， 机械制造及自动化， 2011， 硕士

【摘要】 本课题是在实际工程项目99式坦克高仿真训练驾驶模拟器研制的基础上提出的,主要用于驾驶员、车长、炮长的协调实战训练。六自由度坦克驾驶模拟器视景系统模拟坦克运行时的各种动作和位姿变化,运动平台实时跟踪虚拟坦克的运动,达到一个非常接近真实坦克驾驶的环境。本文根据实际需要设计一个六自由度的Stewart运动平台,加上炮塔旋转运动,可实现包括俯仰、侧倾、旋转、颠簸、平移、打炮后作七个自由度的运动。首先按性能指标对并联机构的结构参数进行设计,对驱动功率影响较大的铰点分布参数进行优化取值。然后根据任意位姿胡克铰摆角,对虎克铰干涉和工作空间进行校验,并利用仿真结果对其再次验证,结构没有干涉,工作空间满足要求。通过有限元分析虎克铰在交变载荷下的强度,对其薄弱的尺寸进行了优化设计,保证坦克驾驶模拟器的强度和刚度。根据坦克驾驶模拟器要求运动过程平稳,振动小,实时性高的特点,以及并联机构关节空间轨迹平滑不能保证笛卡尔空间轨迹平滑的特点,提出采用在笛卡尔空间的时间和冲击综合优化轨迹规划方法。利用分段三次样条曲线对坦克姿态点进行插补,以六自由度运动平台速度、加速度为约束条件,以时间和冲击为优化目标,对样条曲线进行控制,规划出满足模拟驾驶仪运动要求的轨迹曲线。在优化插补点时间间隔的非线性规划问题时,采用实时的可行方向法来处理。仿真和试验结果表明,提出的轨迹规划方法可以使模拟驾驶仪实时平稳地跟踪视景系统给定的任意运动轨迹。最后根据自身控制的需要,设计了坦克驾驶模拟器的控制系统,并完成包括回原位与初始运动模块,坦克旋转模块,坦克射击后作和颠簸模块等的程序编写,进行了样机的真人测试,完成了坦克驾驶模拟器的性能指标,能够满足坦克模拟的运动要求。更多还原

【Abstract】 This research topic is proposed on the basis of the actual project of designing Type 99 tank driving simulator, which is mainly used for training commander, driver and gunner’s fighting abilities. The visual system of the 6-DOF tank driving simulator displays the tank movements and posture changes during the tank moves and the motion platform tracks the movement of the virtual tank in real time. The aim is to achieve making a very close to real tank driving environment.This paper presents a six degree of freedom Stewart motion platform based on the actual need, which can do seven degrees of freedom of motions including pitch, roll, rotation, turbulence, translation, yaw and cannon vibration. Firstly, the structural parameters of the parallel mechanism are designed according to the performance indicators. The parameter of the hinge point distribution having greater impact on the drive power is optimized. Secondly, the interference and working space of the hooks is checked corresponding to any angle of the hook under different positions and orientations. Through simulation the result is re-validated and the hook works well. Lastly, In order to ensure the strength and stiffness of the tank driving simulator, the weak dimensions of the hook is optimized by finite element method under alternating load.The tank driving simulator requires smooth movement, little vibration and high real-time. While for parallel mechanism, the trajectory smoothing feature in joint space can not guarantee a smooth trajectory in Cartesian space. This paper proposed a new time-jerk synthetic optimization method for trajectory planning based on Cartesian space of the Stewart parallel mechanism. With the purpose of getting the optimized trajectory, the piecewise cubic spline curve is exploited to interpolate pose series, which is controlled by a set of appropriate constraints such as velocity, acceleration, jerk and time intervals. A real-time method of feasible directions (MFD) is proposed to solve the nonlinear programming problem of optimizing the time interval of the interpolation points. Simulation and experimental results show that the proposed trajectory planning algorithm makes the tank driving simulator track any trajectories given by the visual system smoothly and real-timely.Finally, the control system of the tank driving simulator is designed according to the actual requirement. The coding of the back to position and initial motion module, tank rotation module, tank cannon vibration module and turbulence module is completed. The prototype testing is made showing that the tank driving simulator achieves the performance indicators and meet the requirements of simulating the movement of tanks.更多还原