六自由度液压运动平台的自动控制.doc

充值下载即送 CAD 图纸, QQ 36396305 I 摘要六自由度运动平台,由于有极为广阔的应用前景,可以完成在空间六个自由度( X, Y, Z,α,β,γ)的运动, 从而可以模拟出各种空间运动姿态, 可广泛应用到各种训练模拟器上。由于六自由度运动平台的研制,涉及机械、液压、电气、控制、计算机、传感器,空间运动数学模型、实时信号传输处理、图形显示、动态仿真等等一系列高科技领域,因而六自由度运动平台的研制变成了高等院校、研究院所在液压和控制领域水平的标志性象征。通过六自由度运动平台的机构特点及应用,可以在平台控制总体设计的基础上完成液压伺服系统的建模工作,在 Matlab 软件中对系统进行了仿真分析, 将常规 PID 控制和基于神经网络算法的先进 PID控制方法进行对比,仿真结果表明基于神经网络的 PID控制方法对伺服系统具有良好的控制效果, 同时也证明了电液伺服控制系统设计的合理性, 将控制策略应用于样机平台,平台运行稳定,流畅。为平台控制的进一步改进和完善奠定了基础。关键词: 六自由度平台;液压; PID 控制充值下载即送 CAD 图纸, QQ 36396305 II A bstract Six degree of freedom motion platform, because there isa very broad application prospects, can pleted in the space of six degrees of freedom (X, Y, Z, alpha, beta, gamma) movement, which can simulate various spatial motion, can be widely applied to various training simulator. As the development of six degree of freedom motion platform, relates to the mechanical, hydraulic, electrical, control, computer, sensor, the spatial movement mathematical model, real-time signal transmission and processing, graphic display, dynamic simulation and soona series of high-tech fields, so the development of six degree of freedom motion platform into colleges and universities, research institutes to hydraulic and control field level symbol. Through the mechanism, characteristics and application of six degree of freedom motion platform, plete the modeling of hydraulic servo system based on the general control platform design, in the Matlab software to simulate the system analysis, the conventional PID control and PID work algorithm based on advanced control methods pared, the simulation results show that the PID work the control method has good control effect of the servo system based on, it also proved that the design of electro-hydraulic servo control system is reasonable, the control strategy is applied in the prototype platform, platform stable operation, smooth. As a platform to control the further improvement and laid the foundation for the perfection of. Key words : 6-DOF platform ;