【作者】 苗成义；

【导师】 汪滨琦；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2004， 硕士

【摘要】 三自由度并联驱动转台是在实验室环境下模拟舰船在水中的摇摆和运动的一种实验设备，可以在实验室完成舰船上舰载飞机灯光导引系统的性能实验。本课题中的三自由度并联驱动转台可以仿真舰船在水面的横摇、纵摇和升沉三个自由度的运动，它对舰载飞机灯光助降系统的相关装置和灯光装置导引仿真系统的开发具有重要的实用价值。 本论文所研究的三自由度并联驱动转台是机、电、液一体化综合的产物，它还涉及到机构学、运动学、动力学、以及控制系统等方面的知识。本文主要完成了机械本体的设计、液压伺服系统的设计并建立了伺服控制系统的数学模型，对其仿真分析。 首先，根据系统的性能指标，对转台进行了机械本体的工程设计，并对其空间运动姿态进行了位置正解和反解的分析，它是机构运动分析的基本任务，也是机构速度、加速度、受力分析、误差分析、空间分析、动力分析和机构综合等的基础。 其次，对三自由度并联驱动转台进行了轨迹规划和生成，计算出转台在运动过程中的最大速度和最大加速度。根据转台的运动指标，选取了电液伺服阀、恒压变量泵、伺服液压缸和位移传感器等的型号，完成了转台液压系统的原理图和实际安装图。 最后，建立了单出杆油缸、电液伺服阀、位移传感器的数学模型，得出系统的传递函数。并在无扰和有扰的情况下，对系统进行了仿真分析。由于系统不能满足控制精度要求，对系统进行了PID校正，得出了比较满意的电液位置伺服控制系统。更多还原

【Abstract】 Under laboratorial environment, 3-DOF parallel Motion Platform is a empirical equipment that simulates vibration warship and movement of the warship on the water surface, it can accomplish carrier plane illuminated guidance performance test of the system. The 3-DOF paralleled motion platform in the topic can simulate horizontal rolling, vertical rolling and ascending and descending of the warship on the water surface, it is important use value to the development of carrier plane illuminated landing equipment and illuminated guidance emulation equipment of the system.3-DOF parallel Motion Platform studied in the topic is a product that integrated mechanical, electronic and hydraulic technology. It involves many knowledge fields, such as mechanism, kinematics, kinetics and control system etc. The paper mainly accomplished the design of mechanical entity and hydraulic servo system and established mathematical model of servo control system, emulated and studied the system.First, according to the performance index of the system, designs the mechanical entity and analyses the forward and backward solution about its motion pose and position. It is not only the basic task of analysis of machine motion, but also the basis of speed, acceleration, the analysis of mechanics, the analysis of deviation, the analysis of space, the analysis of kinetics and mechanism integration of the machine.Secondly , the paper accomplishes the contrail layout and generating about the motion platform, compute its max speed and acceleration in the course of motion. According to the motion index of the platform, the models of electro-hydraulic servo valve, constant force variable pump, servo pneumatic cylinder, displacement sensor etc are selected, the simplified schematic and installation drawing of hydraulic system of motion platform.Finally , the mathematical model of pneumatic cylinder , electro-hydraulic servo valve, displacement sensor are established, the transfer function of the system is gained. The author does some simulation analysis about the system with disturbance and without disturbance. Because the system need not control accuracy of the system, the author applies PID emendation, gains more satisfactory electro-hydraulic position servo control system.更多还原