三自由度摇摆台方案设计与动力学分析

【作者】 刘全川；

【导师】 杨国来；

【作者基本信息】 南京理工大学 ， 机械制造及其自动化， 2009， 硕士

【摘要】 三自由度摇摆台是一种典型的机电一体化复杂产品,作为一种空间运动机械,被广泛用来模拟舰船、车辆、飞行器的运动姿态等。本文利用虚拟样机技术对三自由度摇摆台进行动力学设计与分析,主要研究内容包括:依据系统总体的性能要求,对三自由度摇摆台的总体方案进行了设计,包括摇摆台的总体构成、机械本体方案设计、驱动方案设计、控制方案设计等。利用参数化设计软件Pro/E建立了摇摆台的三维实体模型,获得关键零部件的质量、质心位置、转动惯量等设计参数。基于虚拟样机软件ADAMS建立了三自由度摇摆台多刚体系统动力学模型,通过定义约束、载荷和仿真策略,对摇摆台的动力学特性进行了仿真,获得了摇摆台的运动和受力规律。建立了摇摆台结构参数影响动态特性的灵敏度分析模型,重点研究了上、下铰接点分布圆的半径、电动缸布置尺寸、结构间隙等对摇摆台性能的影响规律,在此基础上建立了以摇摆台驱动功率为目标函数的优化模型,对分布圆半径等结构参量进行了寻优计算,为摇摆台总体方案的优化匹配提供了参考依据。研究了摇摆台的姿态控制问题。对伺服电机、机械传动、负载等环节的控制建模技术进行了研究,利用系统建模软件AMESim建立了摇摆台位置系统串级复合控制模型。利用ADAMS软件的Control模块将摇摆台多体系统动力学模型与AMESim环境下的控制模型通过控制变量有机地连接起来,实现了摇摆台的机电动态特性联合仿真,仿真结果表明了控制方法的有效性和联合仿真的实用性。更多还原

【Abstract】 3-DOF swaying platform is a typical complex mechatronic product. Such a space motion mechanical device has been widely used in attitude simulation for ship, vehicle, aircraft and so on. In this paper, dynamics analysis and design is investigated for 3-DOF swaying platform by means of virtual prototyping. The main research is as below.In light of the requirement of systematic performance, the overall scheme of 3-DOF swaying platform was designed, including overall structure, mechanical subsystem, driving subsystem and control subsystem. The 3D solid model of swaying platform is built by use of the parametric software package Pro/E, from which the mass, mass center, inertia and other structure parameters of the key parts can be calculated.Based on virtual prototyping software ADAMS, the dynamics model of rigid bodies is constructed for the 3-DOF swaying platform, in which the constraints, force and simulation method is defined. The dynamics simulation is performed for the swaying platform, and then dynamics response can be obtained.The sensitivity analysis model is set up for exploring the effects of structural parameters on dynamics response, and the emphasis is focused on the impacts of some key parameters on the response, including the radius of circle which defines the position of upper and lower joints, layout of electrical cylinder and assembly clearance. Then the optimization model is constructed, in which the driving power of the swaying platform is defined as the objective function. The circle radius is optimized, which can provide reference for optimization of general plan design of the swaying platform.The attitude control of swaying platform is discussed. Based on software AMESim, the compound feed forward control model is established for position servo system, in which the modeling of servo motor, mechanical transmission and load is examined. With the control module in ADAMS, the multi-body dynamics model built in ADAMS is connected with the control model constructed in AMESim through control variables, and then co-simulation is achieved. It is shown through simulation result that the control method is effective and the co-simulation is practical.更多还原