流体传动与控制
流體傳動與控製
류체전동여공제
Fluid Power Transmission and Control
2015年
5期
11-15
,共5页
6-UCU%并联%六自由度%运动学仿真
6-UCU%併聯%六自由度%運動學倣真
6-UCU%병련%륙자유도%운동학방진
6-UCU%parallel%six degree-of-freedom%kinematic simulation
以6-UCU并联六自由度平台为研究对象,介绍了六自由度平台的结构及工作原理.利用Solidworks和Ad-ams对六自由度平台进行运动学仿真和分析,得出伺服液压缸的运动特性曲线,验证6-UCU型并联六自由度平台的设计是否合理、准确,对整个六自由度平台的液压系统的安全性及可靠性具有指导作用.通过PID控制器的设计和Simulink仿真,研究了参数变化对系统性能的影响,找出了影响系统性能的关键参数,从而为改进和优化系统方案提供了合理的参考.
以6-UCU併聯六自由度平檯為研究對象,介紹瞭六自由度平檯的結構及工作原理.利用Solidworks和Ad-ams對六自由度平檯進行運動學倣真和分析,得齣伺服液壓缸的運動特性麯線,驗證6-UCU型併聯六自由度平檯的設計是否閤理、準確,對整箇六自由度平檯的液壓繫統的安全性及可靠性具有指導作用.通過PID控製器的設計和Simulink倣真,研究瞭參數變化對繫統性能的影響,找齣瞭影響繫統性能的關鍵參數,從而為改進和優化繫統方案提供瞭閤理的參攷.
이6-UCU병련륙자유도평태위연구대상,개소료륙자유도평태적결구급공작원리.이용Solidworks화Ad-ams대륙자유도평태진행운동학방진화분석,득출사복액압항적운동특성곡선,험증6-UCU형병련륙자유도평태적설계시부합리、준학,대정개륙자유도평태적액압계통적안전성급가고성구유지도작용.통과PID공제기적설계화Simulink방진,연구료삼수변화대계통성능적영향,조출료영향계통성능적관건삼수,종이위개진화우화계통방안제공료합리적삼고.
As the research object, the structure and the working principle of 6- UCU six degreeoffreedom parallel platform are introduced in this paper. Using Solidworks and Adams for kinematics simulation and analysis of 6-DOF platform, the motion curves of the servo cylinders are gotten to validate the accuracy of the 6-DOF aircraft platform. It plays an important role for the security and reliability of the hydraulic six degrees of freedom system. PID control-ler and simulink simulation are done to study the effect of the change of parameters on system performance. The key parameters are found out, which will affect the system performance. Thus it will provide reasonable references when the system is optimized.
