【作者】 黄旭；

【导师】 马春翔；

【作者基本信息】 上海交通大学 ， 机械设计及理论， 2012， 硕士

【摘要】 模拟振动台系统是飞行模拟系统、地震工程研究以及海浪发电系统等工作中的重要试验设备之一,以往的模拟振动台多采用液压的冗余支链驱动,以提高系统的驱动能力和承载力,这种驱动方式也带来了设备庞大、使用环境受限、造价高、污染大、维护成本高以及控制难度大等问题。本文在分析当前模拟振动台技术上存在不足的基础上,提出了种基于多电机驱动的冗余容错六维驱动模拟器,以机构学、运动学、动力学以模糊可靠性等理论为工具,对并联式六自由度地震模拟振动台进行了研究。主要工作有：(1)针对液压驱动导致设备体积庞大、造价高昂、使用环境受限、造价高、污染大、维护成本高以及控制难度大等问题,提出一种以伺服电机为驱动源的冗余容错模块,建立该模块的运动学模型,发现该驱动模块具有理想的冗余容错特性,适合作为模拟驱动器。(2)在总结振动台应用背景的基础上,设计地震模拟振动台并联机构基本构型,其特点为：工作平台具有空间六维运动自由度,且具有很强的承载力和驱动能力。把冗余容错驱动模块应用于此基本构型,设计多种不同类型的多伺服电机驱动振动模拟器,以适应振动模拟装备巨型化发展的趋势。(3)应用D-H方法建立了六维振动模拟器的运动学模型,给出了位置、速度和加速度的推导公式,并用ADAMS软件模拟,得出了运动学结果。(4)应用拉格朗日方程法建立了振动台支链的动力学方程,并进一步推导整个系统的动力学方程,并给出了基于ADAMS软件仿真的动力学结果,验证了动力学模型的正确性。(5)运用ANSYS进行了整机模态分析,给出了动平台在不同维数驱动力作用下的动力特性曲线和固有频率及振动特性描述,为地震模拟器的性能分析、控制系统设计等后续工作奠定了基础。(6)基于振动台的运动学模型给出了运动精度的推导,并推导了支链运动精度的模糊可靠性公式。更多还原

【Abstract】 Vibration table system is one of the important test equipment for flight simulation system, earthquake engineering research, and wave power system. The previous shaking table always used hydraulic drive with redundant branched-chain, which is to improve drive capacity and carrying capacity. But hydraulic drive brought the affect of huge equipment, use of the environment is limited, high cost, pollution, high maintenance costs, and difficult to control and other issues.Based on the technical shortcomings, we propose a redundancy-based fault-tolerant multi-motor drive six-dimensional drive simulator in this thesis, and do research on the 6-DOF parallel shaking table, which related to kinematics, dynamics, fuzzy reliability theory, were studied. The main tasks are as follows.1. Based on the shortcomings of the hydraulic drive, a servo-motor driven source of redundant fault-tolerant modules is presented, kinematic model of the module is established, the module is suitable for driving as the redundant fault-tolerant feature of the driver module is found.2. Based on summarizing of the application background of vibration table, we design basic configuration of parallel mechanism, which is characterized as follows:working platform with six-dimensional space freedom of movement, and has a strong bearing capacity and drive capability. The redundant fault-tolerant driver modules are used in this basic configuration, and a variety of different types of multi-servo-motor drive vibration simulators are designed in order to meet the huge vibration simulations of trends. 3. With D-H method to establish kinematic model of simulator, we give derivation formula of vibration’s position, velocity and acceleration, and obtain kinematics results with ADAMS software simulation.4. With Lagrange equation method, we establish dynamic equations of branched-chain, and further derive the dynamic equations of the system, and give dynamic simulation results based on the ADAMS software.5. Do modal analysis with software ANSYS. The dynamic analysis lay the foundation for following design, control and manufacturing.6. Based on the kinematic model of shaking table, we give the derivation of motion accuracy and the fuzzy reliability formulas of branched-chain movement.更多还原