基于三自由度并联支撑机构的自动调平系统研究.pdf

II 摘要自动调平系统不论是在民用设备上还是在军事国防工程上都有着重要而广泛的运用, 在过去的几十年里,自动调平技术的研究始终受到人们的重视。本文基于螺旋理论及反螺旋理论的构型综合方法对2R1T两转动一平移的并联机构进行了构型综合分析,构型综合出了一系列具有非对称结构的具有2R1T三自由度的并联机构、含有球副S对称结构的2R1T三自由度的并联机构以及具有三条零终端约束的2R1T三自由度的并联机构,提出了作为自动调平系统的支撑机构所需要的并联机构的特点和要求。通过对并联支撑机构的运动学及动力学的分析计算,为自动调平系统的控制系统建立起了精确的数学模型,利用Solidworks软件和Adams软件联合建模进行运动学和动力学仿真,并对仿真结果做了分析研究。本文对自动调平系统中的液压伺服控制进行了比较完整的研究设计分析,分别对整个液压伺服系统的比较重要的元器件进行了选择及设计,建立起了液压伺服控制系统的数学模型,得到了液压伺服控制系统的传递函数,并利用Matlab软件程序进行了液压伺服控制系统的开环频率响应特性曲线仿真并对仿真结果进行了分析。本文自动调平系统的控制器采用模糊PID——Smith预估器进行自动调平控制,并在 Matlab软件里进行了调平性能控制仿真,仿真实验结果表明采用模糊PID——Smith预估器控制是具有良好的调平控制效果的。关键字:并联机构;自动调平系统;螺旋理论;液压伺服控制;模糊PID III Abstract Automatic leveling system, regardless of civilian equipment or in the military and national defense projects have an important and widely usedin presentlydecades,the auto-leveling technology research has always been attention has been paid. By using screw theory and the theory of the anti-spiral, parallel mechanism with 2R1T 3-DoF (Degree-of-Freedom) is proposed in this paper. Configuration out of a series of asymmetric with 2R1T three degrees of freedom parallel mechanism with spherical joint S symmetry 2R1T three degrees of freedom parallel mechanism, and the three zero terminal constraint 2R1T three degrees of freedom parallel configuration,parallel organizations 2R1T configurationare analyzed and design, analysis and design, presented the characteristics and requirements of the automatic leveling system supportstructure, parallel mechanism. By usingthe use of Solidworks software and Adams software joint modeling of kinematics and dynamics simulation study to establish a precise mathematical model of automatic leveling system’s controling. The hydraulic servo control in the automatic leveling system, a relatively complete study design, selection and design of the ponents of the hydraulic servo, the establishment of the mathematical model of the hydr