【作者】 潘大亨；

【导师】 林砺宗；

【作者基本信息】 华东理工大学 ， 车辆工程， 2012， 硕士

【摘要】 本论文是以一游艇的虚拟驾驶体验平台为项目背景。设计开发一种典型的Stewart结构的六自由度动感平台控制原理并对其进行运动学仿真,并将这种控制原理应用于动感平台的路谱模拟运动。首先,本文以动感平台为主要研究对象,分析了整个位姿系统的理论数学模型,包括其位置正、反解算法以及工作空间的解析。接着运用SolidWorks和ADAMS软件,对动感平台主要结构进行建模装配和仿真分析,验证平台设计的合理性与准确性；同时分析了整个动感平台的运动过程、运动的极限位置、转角、干涉情况和其他运动参数等,对整个动感平台系统的安全性及可靠性有重要的指导作用。然后设计了动感平台运动的控制软件,调用运动控制卡的各种命令函数实现了平台所需的俯冲俯仰、倾斜、偏航等实时控制的运动姿态,以匹配影片播放的情节；同时也可以将仿真得到的各缸运动曲线数据输入控制系统,得到的上平台运动轨迹与仿真运动轨迹具有相同的运动趋势,从而证明了平台的实际控制与虚拟仿真的一致性。最后总结了四种不同的数据采集方法及其优缺点。通过动感平台项目的成功证明了本六自由度动感平台的研制与控制方法是可行的,本论文的研究及项目的成功可为后续开发其他用途六自由度运动平台与多自由度运动及其控制方法的研究奠定了良好的基础。更多还原

【Abstract】 This paper is based on the virtual driving experience platforms of a yacht for the project background. Design and develop a control theory and kinematics simulation of 6 DOF dynamic platform of Stewart form, and the control principle successfully applied in the road spectrum simulation movement. First of all, make the platform as a main object and analyze the theoretical mathematical model of the position and orientation system in the paper, including the positive and inverse solution algorithm of location and the analysis of workspace. Modeling and simulating the main structure of the platform by using SolidWorks and ADAMS, and verify the reasonableness and accuracy of platform design; it is important to the entire system security and reliability of 6 DOF platform by analysis of the entire platform mechanism, such as movement, limit position, rotation, interferences, other parameters and so on. Then design the control software, realized the real-time control athletic stance of the platform by calling the various command function of control cards, such as dive pitch, tilt, yaw and so on. And when loading the motion curves of cylinder got by simulation, the same trend of movement of trajectory between the actual and simulation will be obtained, so prove the consistency of the actual control and virtual simulation. Finally, summarize the four different data acquisition methods and their advantages and disadvantages.Prove the development and control method of dynamic platform is feasible through the success of project. Also, it can laid a good foundation of designing and developing for other purposes of 6 DOF and multi-DOF platform and their control methods.更多还原