基于Stewart平台的动感平台设计与控制研究-机械工程专业论文.docxVIP

Abstract Since came up, Stewart platform, a classic kind of 6-DOF manipulator, with years of research and development, has been widely applied in various fields. And 6-DOF motion platform is an extended branch in entertainment industry, which is a emerging and booming industry in China. Because of its high-fidelity and good experience, 6-DOF motion platform has broad market application prospect. Based on the technical indicators, the structure of 6-DOF motion platform is designed, as well as the hardware, software and control strategy of the control system. And by debugging experiment, the feasibility of the designed system is proved. Firstly, establishing the kinematics and dynamics models for simulation to design the parameters of the critical components, such as upper and lower hinges, hydraulic cylinders, servo valves and hooks. Then based on the established hydraulic control model, the characteristics of the electro-hydraulic control system is analyzed. And dynamic pressure feedback and feedforward control are used to improve the system damping, and correct phase lag and amplitude attenuation. At the same time, the rationality of the platform structure and the electro-hydraulic control system can be proved via joint simulation of MATLAB and ADAMS. According to the requirements of dynamics characteristics of the motion platform, a Fuzzy-PID controller is designed. Comparing the simulation results proves that the performance of Fuzzy-PID controller is superior to conventional PID controller with different input signals. In addition, through the joint simulation, it proves that the fuzzy PID controller also perform well when controlling the overall platform. Considering of the characteristics of 6-DOF platform, such as multi-channel, high real-time performance, large real-time calculation and traffic, a microcontroller unit (MCU), based on C8051F120 microcontroller, is developed to act as lower computer, and PC acting as host computer. Also, their control program