六自由度振动试验系统运动极限
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摘要
针对六自由度振动试验系统的试验能力问题,对试验系统台面的运动极限情况进行分析。研究的振动试验系统由8个独立的电动振动台和一个台面组成,振动台和台面之间通过静压球形接头进行机械解耦。建立该振动试验系统的几何模型,采用斯图尔特平台分析方法,推导出台面位移和各振动台位移之间的关系。建立了一种优化计算方法,根据振动试验系统的参数计算出台面的极限位移,得到振动试验系统的最大试验能力;也可根据给定的试验条件要求计算出各振动台应具有的试验能力。此工作为此类型振动试验的实施提供了判断依据。
The motion limit of testing system table is analyzed in view of the testing ability of 6-DOF vibration testing system.The vibration testing system is composed of 8independent electro-dynamic shakers and a table,and the mechanical coupling between shakers and the table is decoupled by hydrostatic spherical joints.The geometric model of the vibration testing system is established,and the relationship between the displacement of table and shakers can be derived by the analytical method of Steward platform.An optimal arithmetic method is built so that the limit displacement of the table can be calculated,and the maximum testing ability of the vibration testing system can be gotten with the parameters given.On the other hand,the testing ability of each shaker can also be gotten by the given testing requirement.The work can supply a criterion for practical vibration test.
The motion limit of testing system table is analyzed in view of the testing ability of 6-DOF vibration testing system.The vibration testing system is composed of 8independent electro-dynamic shakers and a table,and the mechanical coupling between shakers and the table is decoupled by hydrostatic spherical joints.The geometric model of the vibration testing system is established,and the relationship between the displacement of table and shakers can be derived by the analytical method of Steward platform.An optimal arithmetic method is built so that the limit displacement of the table can be calculated,and the maximum testing ability of the vibration testing system can be gotten with the parameters given.On the other hand,the testing ability of each shaker can also be gotten by the given testing requirement.The work can supply a criterion for practical vibration test.
引文
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[14]Koebebakker S.Model based control of a flight simulator motion system[D].Delft:Delft University of Technology,2001.
[15]马建明.飞行器模拟液压Stewart平台奇异位形分析及其解决方法研究[D].哈尔滨:哈尔滨工业大学,2010.
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[17]Underwood M A,Keller T.Applying coordinate transfor-mations to multi-DOF shaker control[J].Sound and Vibration,2006,1:2-8.
[18]Lin W,Griffis M,Duffy J.Forward displacement analysis of the 4-4stewart platforms[J].Journal of Mechanical Design,1992,114:444-450.
[19]Raghavan M.The stewart platform of general geometry has 40configurations[J].Journal of Mechanical Design,1993,115(2):277-282.
[20]Ku D M.Direct displacement analysis of a stewart platform mechanism[J].Mechanism and Machine Theory,1999,34:453-465.
[2]夏益霖.多轴振动环境试验的技术、设备和应用[J].导弹与航天运载技术,1996,6:48-55.Xia Yilin.The technology,equipment and application of multi-axis vibration environment testing[J].Missiles and Space Vehicles,1996,6:48-55.(in Chinese)
[3]Harman C.Multi-axis vibration reduces test time[J].Evauluation Engineering,2006,45(6):44-47.
[4]贺旭东.多输入多输出振动试验控制系统的理论、算法及实现[D].南京:南京航空航天大学,2006.
[5]Freeman M T.3-Axis vibration test system simulates real world[J].Test Engineering and Management,1990,12:10-14.
[6]Whiteman W E,Berman M S.Inadequacies in uniaxial stress screen vibration testing[J].Journal of the IEST,2001,44:20-23.
[7]Whiteman W E.Fatigue failure results for multi-axial versus uniaxial stress vibration testing[J].Shock and Vibration,2002,9:319-328.
[8]Chen M,Wilson D R.The new tri-axial shock and vibration test system at hill air force base[J].Journal of Institute of Environmental Sciences and Technology,1998,41(2):27-32.
[9]关广丰.液压驱动六自由度振动试验系统控制策略研究[D].哈尔滨:哈尔滨工业大学,2007.
[10]关广丰,王海涛,熊伟.6自由度液压振动台运动学分析及控制策略[J].振动、测试与诊断,2011,31(1):89-93.Guan Guangfeng,Wang Haitao,Xiong Wei.Kinematic analysis and control strategy of 6-DOF hydraulic vibration table[J].Journal of Vibration,Measurement&Diagnosis,2011,31(1):89-93.(in Chinese)
[11]严侠,牛宝良,朱长春.三轴六自由度液压振动台随机振动控制分析与仿真[J].机床与液压,2007,35(10):165-191.Yan Xia,Niu Baoliang,Zhu Changchun.MIMO random vibration control simulation in the three axis-six DOF shaking table[J].Machine Tool&Hydraulics,2007,35(10):165-191.(in Chinese)
[12]陈建秋.六自由度模拟地震振动台台面控制原理研究[J].广州大学学报:自然科学版,2006,5(3):75-79.Chen Jianqiu.Analysis of 6-DOF and table control of seismic simulation system[J].Journal of Guangzhou University:Natural Science Edition,2006,5(3):75-79.(in Chinese)
[13]陈建秋,任珉,杨泽群.模拟地震振动台台面补偿技术分析[J].广州大学学报:自然科学版,2005,4(1):74-77.Chen Jianqiu,Ren Min,Yang Zequn.Analysis of compensation technology of seismic simulation system[J].Journal of Guangzhou University:Natural Science Edition,2005,4(1):74-77.(in Chinese)
[14]Koebebakker S.Model based control of a flight simulator motion system[D].Delft:Delft University of Technology,2001.
[15]马建明.飞行器模拟液压Stewart平台奇异位形分析及其解决方法研究[D].哈尔滨:哈尔滨工业大学,2010.
[16]Bhaskar D,Mruthyunjaya T S.The stewart platform manipulator:a review[J].Mechanism and Machine Theory,2000(35):15-40.
[17]Underwood M A,Keller T.Applying coordinate transfor-mations to multi-DOF shaker control[J].Sound and Vibration,2006,1:2-8.
[18]Lin W,Griffis M,Duffy J.Forward displacement analysis of the 4-4stewart platforms[J].Journal of Mechanical Design,1992,114:444-450.
[19]Raghavan M.The stewart platform of general geometry has 40configurations[J].Journal of Mechanical Design,1993,115(2):277-282.
[20]Ku D M.Direct displacement analysis of a stewart platform mechanism[J].Mechanism and Machine Theory,1999,34:453-465.
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