【作者】 赵恒；

【导师】 李平康；

【作者基本信息】 北京交通大学 ， 安全技术及工程， 2008， 硕士

【摘要】 本课题是以“履带车辆综合传动试验台换挡系统智能优化技术研究”为基础,通过对车辆综合传动试验台换档系统的研究开发,为某型高速履带车辆综合传动装置提供一个良好的性能和寿命试验平台,以此提高车辆综合传动的整体性能。在传动系统性能试验中,如果采用人工换档,费时费力并且很难保证精度;在传动系统寿命试验中,20万～40万次的换档动作人工很难完成,因此在车辆综合传动试验中提出采用机械手代替人手进行自动换档操作,减少试验工作量,缩短设计研发周期。本文首先分析研究了国内外换档机械手的研究现状,根据传动试验台的实际换档需要,对比气动、液压、机械、交流伺服四种驱动方式,针对换档操作的球面运动特性,采用数字交流伺服的三自由度直角坐标换档机械手方案,巧妙解决了曲线换档、三维转化为二维的运动控制、档位行程标定等难题。采用和利时电机公司的60CB系列伺服电机、GS系列交流伺服驱动器、英国翠欧公司的MC206运动控制器和工控机等构建了位置环伺服运动控制系统。利用ActiveX控件在VB中开发了上位机控制程序,并引入了档位示教、档位标定、定时操作、限位报警等功能,既实现了试验的自动化换档操作,又保证了系统的安全可靠。最后,利用网络控制技术,以综合传动试验台的分散控制系统(DCS)作为网络控制主体平台,通过MODBUS通讯协议之间的中转,将换档机械手控制系统无缝集成到DCS系统中,大大提高了试验效率。经过现场的安装、调试和运行,本文提出的换档机械手的整体设计和控制方案是切实可行的,能够完全代替人手实现换档操作,具有结构紧凑、定位精度高、安全可靠的特点。同时换档执行机构不需要对变速箱体进行结构改造,针对不同的变速箱传动试验,只需要修改控制软件中的坐标和行程就能满足试验要求,具有一定的通用性。更多还原

【Abstract】 This paper is based on "Integrated Transmission Test-Bed Intelligent Optimized Shifting Technology Research". With research and development of vehicle integrated transmission test system, provide a high performance test bench for certain armed tracked vehicle. It can enhance the whole performance of synthetic transmission system. In the performance test, if shifted manually, the operator should power off and shift, wasting time and manpower; in the life-span test, it’s too difficult to finish shifting for 200,000-400,000 times. In the transmission system test, we should use automatic shift manipulator instead of manual shifting, for reducing test-work load and shortening design cycle.In the paper, first of all, the present situation of the domestic and foreign shifting manipulator is analyzed and studied. According to the requirements of test, in contrast with pneumatic, hydraulic, mechanical and AC servo drive modes, a design plan of 3-DOF Cartesian coordinate robot of alternating-current servomechanism is proposed. It can solve curve shifting, motion control of three-dimension to two-dimension, shift gear calibration and so on. AC servomechanism is constructed of SYNTRON 60CB series servo motor, SYNTRON GS series servo driver, TRIO MC206 motion coordinator and industrial computer. Develop upper-computer control program with ActiveX component in VB. It includes shift gear calibration module, timing-operation module, and position-limit alarm module, for achieving shift automatic operation and system safety. At last, with network control technology, based on DCS of Synthetic Transmission Test-Bed, shift manipulator control system is integrated into DCS, using MODBUS communication protocol.With installation and debugging, the whole design and control plan of shift manipulator is reasonable, satisfied with test requirements. The system has compact construction, accurate positioning accuracy, safety and reliability. Without any construction changes of gear box, the shift manipulator can use for other gear boxes, only changing position of coordinates and motion distance in the software.更多还原