二自由度摇摆台运动模型研究与控制-机械工程专业论文.docxVIP

摘 要 本文目的是为激光通信光端机性能测试设计一款二自由度摇摆台，该模拟台 须满足轻小型化要求且适应野外试验条件。通过调研国内外模拟台结构形式，提 出了模拟台的结构简图。首先，在结构方面分别运用 MATLAB 与 ADAMS 对模 拟台进行运动学建模，仿真分析验证模型结构正确性；对模拟台运动关节进行干 涉分析，为后续零部件结构选型设计提供参考；对简化结构进行参数化建模，以 电动缸功耗为优化目标，对模拟台进行优化设计。然后，利用闭环矢量法建立模 拟台的误差模型，研究位姿误差的影响因素：电动缸位移误差、杆端关节轴承误 差、自润滑球轴承间隙和系统装配误差；同时，在 ADAMS 中建立含有间隙误 差的动力学模型，分析带载与空载情况下的姿态误差曲线，实验结果表明，动力 学误差模型更加接近真实情况。最后，根据轻小型化的原则，利用 SOLIDWORKS 软件对模拟台进行详细结构设计，实现结构安装空间大、刚度强和变形小的设计 指标；针对野外环境差等因素，对控制系统进行优化设计，满足便携性、控制简 单和精度高等优点。 关键词：模拟台 参数化模型 闭环矢量法 控制系统 ABSTRACT The article intended to design a 2-DOF swing platform for laser communications Optical Performance Test. The swing platform need fit the requirements of miniaturization and adaptation field test conditions. Through research the structure of motion platform in the world, the paper proposed structure diagram of platform. First, in the structure, using MATLAB and ADAMS build kinematics modeling, and by simulating analysis to verify the correctness of the model structure. And joint motion on the platform need interference analysis, to provide theoretical support for the structural design. Nest, establishing parametric simulation model in order to optimize the power consumption of electric cylinders goal to optimize the design of the analog station. Then, a closed-loop vector error model was established to analyzes rod length error, the rod end bearing error, the bearing assembly error and pose error. At the same time, using dynamics software ADAMS establish dynamics simulation model that include gap error to analysis attitude error curve at load and no-load position, the experimental results show that the dynamic error model closer to the real situation. Finally, using SOLIDWORKS software for analog sets detailed structural design based on the principle of light miniaturization, and the model installation of large space structures, stiffness strength and deformation design specifications. And then the control system with portability, simple control and precision need optimize design becau