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1、六自由度位姿调节平台控制系统设计专 业：机械设计制造及其自动化学 生： 指导老师： 完成时期： 2015年6月1日扬州大学机械工程学院摘要六自由度平台在生活和实验设备得到了广泛的应用，例如各种训练模拟器如飞行模拟器、舰艇模拟器、海军直升机起降模拟平台、坦克模拟器、汽车驾驶模拟器、火车驾驶模拟器、地震模拟器以及动感电影、娱乐设备等领域，甚至可用到空间宇宙飞船的对接，空中加油机的加油对接中，在加工业可制成六轴联动机床、灵巧机器人等。为其他试验设备提供了一个可以进行各种姿态调节的支撑平台，方便其他各种实验的展开。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
2、、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。同时平台的姿态能够实时调节、精确度自动化程度高等优点。近些年来，对于六自由度平台的控制得到了关注和研究。本文将针对实验室现有的调节平台，设计其控制系统，使位置、姿态调节更加方便快捷。首先需要进行控制系统总体方案论证，确定可行的总体方案。同时在详细了解实验室现有的调节平台的结构的基础上，根据相应的性能要求确定电机、驱动器、控制器型式，建立了六自由度位姿调节平台的运动学模型，进而建立了六自由度位姿调节平台的运动学方程，设计控制系统线路图，重点考虑电机运动到
3、极限位置时“卡死”问题，设置加以控制，最后采用VC+6.0开发工具，在Windows环境中对控制软件进行功能开发，实现电动、自动功能，解决电机运动到极限位置时“卡死”问题。 关键字: 六自由度位姿调节平台；极限位置；运动学模型；行程开关ABSTRACTSix degrees of freedom platform and experiment equipment has been widely used in life, such as all kinds of training simulator such as flight simulator, ship simulator, the n
4、avy helicopter landing simulation platform, the tank simulator, vehicle driving simulator, the train driving simulator, the earthquake simulator and action movies, entertainment and other fields, even available space spacecraft docking, refueling tanker docking.In processing can be made into six axi
5、s linkage machine tool, dexterous robot, etc.For other test equipment provides a can undertake all kinds of posture adjustment support platform, convenient and other various kinds of experiments.Due to the development of the six degrees of freedom motion platform, mechanical, hydraulic, electrical,
6、control, computer, sensors, space motion mathematical model, the real-time signal processing, graphical display, dynamic simulation and so on a series of high-tech fields, therefore the development of the six degrees of freedom motion platform into institutions of higher learning, research institute
7、s iconic symbol of hydraulic and control level.At the same time platform attitude to real-time adjustment, high automation degree of precision.In recent years, the six degree of freedom platform control to get the attention and research.This article will focus on the adjustment of the existing labor
8、atory platform, design of its control system, make position, posture adjustment more convenient and quick.First need to control the system overall scheme demonstration, deciding the overall concept of feasible.In details about the lab at the same time, on the basis of existing to adjust the structur
9、e of the platform, according to the requirement of the performance of the corresponding type of motors, drives, controller, set up the kinematics model of six degrees of freedom posture control platform, and then established the kinematics equation of six degrees of freedom posture adjusting platfor
10、m, design of control system circuit diagram, emphasizing on the electric motor to the limit position stuck problem, set control, finally in the software development environment using c language to control the function of software development and implementation of electric and automatic functions, so
11、lve the electric motor to the limit position stuck problem.Key words: six degrees of freedom posture adjusting platform;Limit position;The kinematics model;Travel switch目 录摘要ABSTRACT第一章 引言1.1课题来源1.2国内外现状1.3本文的主要内容第二章 六自由度位姿调节平台控制系统的总体设计方案2.1原控制系统方案及存在的问题2.2现控制系统方案及解决的问题第三章 控制系统设计3.1六自由度调节平台的运动学模型 3.1.1 D-H方法简介 3.1.2 运动学模型3.2 硬件设计 3.2.1电机选型 3.2.2驱动器选型 3.2.3控制器选型 3.2.4传感器选型
