【作者】 李昌；

【导师】 叶正茂；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2011， 硕士

【摘要】 高速铁路快速发展,对测试设备的要求越来越高。基于六自由度并联机构的液压综合试验台,能够模拟列车运行时两车端的运动关系,测量整个车端的刚度、阻尼,测试安装在车端的车钩、贯通道、电器连接器、制动管路等部件的干涉情况,为列车动力学分析和结构设计提供参考依据。在测量车端部件贯通道的刚度、阻尼等参数时,需要对基于六自由度运动平台的力加载控制进行研究。本文首先介绍了并联机构的特点、发展和应用概况,以及力控制的研究现状和关键性问题。然后,研究了单通道系统位置环和力环的动态特性,并分析了力传感器测量值的坐标系变换过程,对扩展到六自由度运动平台时的动态响应进行了探讨。在相应分析中,采用了可行的控制策略,并设计了有效的力控制器。在单通道系统分析中,首先建立了单出杆阀控缸动力机构及贯通道负载的数学模型,通过仿真分析得到了系统的频宽和动态响应特性。在分析力加载控制特性时,采用了力环包容位置环的控制策略。通过基于导纳控制的力控制器,将力误差信号转换为内部位置环的补偿信号,实现了力加载控制,并获得了系统力控制频宽。由于力加载过程中,贯通道负载参数具有时变性,因此本文分别研究了各参数的变化对单通道系统动态响应的影响。分析了基于六自由度运动平台力加载测量原理,研究了力传感器测量值从传感器坐标系到贯通道参数计算辅助坐标系的转换过程,并给出了两者间的变换关系式。通过坐标变换的欧拉角描述,给出了该变换关系式的求解过程。六自由运动平台广义输出力大闭环力加载控制分析中,首先改进了单通道系统的控制策略,增加了动压反馈环节。然后针对基于内部位置环的六个单自由度和六自由度同时力加载控制,分别分析了其力环动态响应特性。更多还原

【Abstract】 With the rapid progress in speed railway, the requirment for test devices becomes higher. The comprehensive test-bed of hydraulic researched in this paper is based on 6-DOF parallel mechanism, which can stimulate the movement relationship between car-sides when the train is running, and can measure the whole inter-train stiffness and damping, and can test the coupler, through passage, electrical connector and the brake pipe. All of these provide basis for dynamic analysis and structural design of the train. When measuring parameters of the through passage,such as stiffness and damping , we need to study the force loading control based on 6-DOF motion platform.Firstly, this paper introduces the properties, development and application overview of parallel mechanism, and the research and key issues of force control as well. Then the paper analyzes the position and force loop dynamic characteristics of the single channel system, and discusses the coordinate transformation process of the force sensor value , analyzes the dynamic response of which is discussed when it is extended to 6-DOF motion platform. In the corresponding analysis, it applies a feasible control strategy, and designs an effective force controller.In the single channel system analysis, this paper establishes the mathematical model of the valve controlled singal-rod hydraulic cylinder power mechanism and the through passage firstly. Through simulation analysis, it obtains the frequency range and dynamic response characteristics of the system. When it analyzes the properties of force loading control, this paper applies the force control strategy inclusive position loop. Through force controller based on admittance control, the force error signal is converted to compensation signal of the internal position loop. Thus the loading force control is realized, and the frequency range of the force control system as well. Because of the time-varying parameters of the through passage in the force loading process, the paper studies the influence of the parameters changes on the dynamic response of the singal-channel system respectively.This thesis analyzes the measurement principle of force loading control based on 6-DOF motion platform, and studies the transformation process of the force sensor value from the sensor coodinate to the aided coordinate, in which the parameters of the through passage are computed. And the transformation relationship between them is getted. By the Euler angles discription of coordinate transformation, the solution process of the transformation relationship is given.Finally, in the singal degree of freedom force loading control analysis of 6-DOF motion platform with generalized output force closed-loop, it first improves the control strategy of the singal channel system, and add a dynamic presure feedback loop. Then for the sixl degree of freedom force loading control based on internal position loop, the paper analyzes the dynamic response characteristics of its force loop respectively and together.更多还原