火控系统测试用6自由度运动模拟器研制
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摘要
为了能够在实验室内对火控系统进行综合性能试验,采用液压驱动6自由度Gough-Stewart机构对载体的各种运动状态进行模拟.利用Gough-Stewart机构机械系统动力学和液压驱动系统之间的力/力矩和速度双向作用关系,将机械系统动力学模型和液压驱动系统模型相结合,建立了并联机构整体动力学模型.对运动模拟器的自由度耦合特性进行分析和实验研究.结果表明,自由度间耦合在系统固有频率范围内具有随着运动频率的提高而增强的特点.针对运动模拟器的安全保护问题,采用一种根据支腿长度直接对工作空间中的奇异区进行判别的方法,避免了使用复杂、耗时的雅克比矩阵条件数判断奇异性的方法,采用幅相控制(APC)和随机波复现技术,使正弦波和随机波的复现精度都得到了明显提高.
The hydraulically driven 6-DOF parallel Gough-Stewart mechanism was used as a motion simulator to simulate the real motions of carrier for testing firing control systems in laboratory.The bidirectional force/torque versus velocity interactions between mechanical dynamics system and its hydraulic driving system was explored to establish an integrated dynamic model.Then the couplings of pose outputs were presented and experimental results show that the couplings between these outputs will become more intense with the increase of motion frequency within natural frequency of the Gough-Stewart mechanism.Moreover,for the safety of the motion simulator,a simple criterion which only uses the lengths of legs instead of complicated and time-consuming method of condition number of Jacobian is proposed to distinguish singular area from the workspace.Amplitude and Phase Control(APC) and random wave duplication techniques were employed to greatly improve the simulation fidelity not only for sine waveform but for random waveform as well.
The hydraulically driven 6-DOF parallel Gough-Stewart mechanism was used as a motion simulator to simulate the real motions of carrier for testing firing control systems in laboratory.The bidirectional force/torque versus velocity interactions between mechanical dynamics system and its hydraulic driving system was explored to establish an integrated dynamic model.Then the couplings of pose outputs were presented and experimental results show that the couplings between these outputs will become more intense with the increase of motion frequency within natural frequency of the Gough-Stewart mechanism.Moreover,for the safety of the motion simulator,a simple criterion which only uses the lengths of legs instead of complicated and time-consuming method of condition number of Jacobian is proposed to distinguish singular area from the workspace.Amplitude and Phase Control(APC) and random wave duplication techniques were employed to greatly improve the simulation fidelity not only for sine waveform but for random waveform as well.
引文
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[15]关广丰,丛大成,韩俊伟,等.随机振动功率谱复现迭代算法的研究[J].地震工程与工程振动,2006,26(6):71-76.
[2]GOUGH E,WHITEHALL S G.Universal tyre test ma-chine[C]//Proceedings of the FISITA Ninth Interna-tional Technical Congress.London:[s.n.],1962:117-137.
[3]CAPPEL K.Motion simulator:USA,3295224[P/OL].(1967-01-03)[2009-07-22].http://www.del-phion.com/details-&pn10=US03295224.
[4]STEWART D.A Platform with Six Degrees of Freedom[C]//Proceedings of the Institute of Mechanical Engi-neers.London:IME,1965:371-386.
[5]JI Ping,WU Hongtao.A Closed-form forward kinemat-ics solution for the6—6stewart platform[J].IEEE Transactions on Robotics and Automation,2001,17(4):522-526.
[6]MERLET J P.Determination of6D workspace of goughtype parallel manipulator and comparison between differ-ent geometries[J].International Journal of Robotics Re-search,1999,9(18):902-916.
[7]LI H D.The analytical singularity locus equation and the determination of singularity-free zones in the work-space of the general Gough-Stewart platform[D].Can-ada:University Laval,2005.
[8]KIM D,CHNG W.Analytic singularity equation and a-nalysis of Six-DOF parallel manipulators using local structurization method[J].IEEE Transactions on Robot-ics and Automation,1999,15(4):612～622.
[9]GHORBEL F.Modeling and pd control of closed-chain mechanical systems[C]//Proceedings of the34th IEEE Conference on Decision and Control.New Orleans:[s.n.],1995:540-542.
[10]KOEKEBAKKER S H.Model Based Control of a Flight Simulator Motion System[D].Netherlands:Delft Uni-versity of Technology,2001.
[11]HAO F,MERLET J P.Multi-criteria optimal design of parallel manipulators based on interval analysis[J].Mechanism and Machine Theory,2005,40:157-171.
[12]何景峰.液压驱动六自由度并联机器人特性及其控制策略研究[D].哈尔滨:哈尔滨工业大学机电工程学院,2007.
[13]李洪人.液压控制系统[M].修订版.北京:国防工业出版社,1990:53-58.
[14]延皓,叶正茂,李洪人.基于Widrow-Hoff学习算法的液压协调加载控制策略研究[J].地震工程与工程振动,2006,26(3):104-107.
[15]关广丰,丛大成,韩俊伟,等.随机振动功率谱复现迭代算法的研究[J].地震工程与工程振动,2006,26(6):71-76.
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