【作者】 汪汉生；

【导师】 夏桂华；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 六自由度平台是一种用于模拟飞机、舰船、宇航飞行器和车载设备等运动姿态的实验设备,平台采用并联机械机构,液压驱动,由计算机实时控制,完成了垂荡、纵荡、横荡、纵摇、横摇和艏摇六个自由度的运动。本文对六自由度平台系统进行设计和研究。首先,分析了平台的机械组成及其工作原理,并根据平台的运动性能指标,设计平台的机械本体,选取了液压阀、液压缸及位移传感器的型号。并对位移传感器进行了测试实验。其次,对系统控制方案的选择进行了论证,并完成六自由度平台的软件和硬件设计,并确定了硬件型号。建立了单缸、比例方向阀、位移传感器的数学模型,得出其传递函数。提出了单缸的控制方法,进行了单缸的位置控制实验,提出了对称阀控非对称缸匹配的方法,并在实验数据的支持下,改进了单缸PID控制,得到了比较满意的结果。最后,本文详细的分析了平台空间运动姿态反解,并根据姿态反解提出了平台控制系统的方法。研究了平台的轨迹规划,并在VC++ 6.0环境下用OpenGL建立了六自由度运动平台仿真模型,通过仿真证明了平台控制方法的可行性。更多还原

【Abstract】 The 6-DOF swing test platform is an experimental equipment that is mainly used to simulate the kinetic posture of airplanes, vessels, space flights and vehicles. It adopts parallel mechanisms, hydraulic pressure drive and real-time control by the computer, and simulates pitching, rolling and turning, leeway, departing and landing of the warship. This thesis has carried on the design and research to the 6-DOF swing platform system.Firstly, the mechanical constitution and operating principle of the 6-DOF swing platform are analyzed. According to performance index of the system, the mechanical entity is introduced in the article. Meanwhile, the models of electro-hydraulic servo valve, constant force variable pump, servo pneumatic cylinder are selected, as well as the displacement sensor, whose performance index has been experimented.Secondly, The scheme of control system was demonstrated and the type of hardwares were confirmed through the design of the hardwares and softwares of the 6-DOF swing test platform. The mathematical model and the transfer function of the system established which takes pneumatic cylinder, electro-hydraulic valve and displacement sensor into account. The method of single pneumatic cylinder control is put forward, and the control experiment of single pneumatic cylinder is executed.The control method based on asymmetrical hydraulic cylinder controlled symmetrical valve is studied. According to the development methods with experiment data, a more satisfactory result is gained.Finally, the inverse solution about the kinetic posture of swing platform is analyzed in detail in the paper. According to the inverse solution, a control method of swing platform is put forward. The trajectory of 6-DOF swing platform is studied in the paper. At the same time, a model of motion platform is drawn by OpenGL Shading Language under VC++ 6.0 environment. Through the emulational system on machines, the method of system control is proved.更多还原