【作者】 汪盛；

【导师】 孙立宁；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2006， 硕士

【摘要】 大行程微操作手目前尚处在样机研究阶段,研究成果不多见,驱动力较小、精度及稳定性不佳,是其尚未达到实际应用的主要原因,而导致这些问题的主要原因在于对驱动机理模型本身的科学规律尚未深入发掘。解决目前存在的问题的关键在于深入研究驱动机理,建立其合理的数学模型,找出影响其运动情况与特征的因素,为系统稳定性及其控制方法的实现奠定基础。论文将对球基微操器的摩擦力驱动原理做深入分析,将其简化为二元摩擦振子模型,通过对二元摩擦振子性质的讨论,对应用摩擦力驱动原理的球基微操作器的运动状态,动力学特征,优化设计,频响问题以及控制方式进行深入分析。首先在球基微操作器运动特性实验的基础上,分析摩擦力粘滑(stick-slip)驱动原理的驱动特性;对球基微操作器的驱动机理进行分析;最终通过数值仿真模拟球基操作器的运动。在实现仿真的基础上,利用非线性振动力学,将摩擦力驱动原理的驱动过程划分为基本振动与状态切换非稳定振动阶段,论证了微操作球出现的典型运动现象产生原因。提出微操作器的粘滑运动由受迫振动和自激震荡合成的思想。然后根据二元摩擦振子动力学方程,建立运动状态方程;并转化为相对速度状态量,通过对相对速度状态量的讨论建立判别粘滞与滑动状态转换过程及划分标准,状态空间的建立为球基微操作器的优化设计,控制理论以及稳定性讨论奠定理论铺垫。利用谐波平衡法,傅利业变换以及最优化理论对一元及二元摩擦振子的频率响应进行理论求解讨论。对二元摩擦振子进行数值建模,验证了理论解,并讨论二元摩擦振子基于MATLAB的数值优化解的方法。最后结合振动分析,粘滑区域划分和运动频响讨论系统稳定条件。并通过对Coulomb摩擦模型的稳定性讨论,得出正压力补偿控制法,即以稳定摩擦力驱动摩擦振子实现微操作手运动的可控性及稳定性的方法分析。通过数值方法验证正压力补偿控制法的适用性,为微操作器的运动控制提出可行方法。更多还原

【Abstract】 Large range micro-manipulator is still on experiment, without many successive prototypes. The low drive force, low precession, and low stability are the biggest obstacle to the application. However, all the defections are the result of the lack of study on the drive principle. To solve the problem, the best way is make a better model to analysis the factors which affect the movements, by which it’s easier and more reliable to get the stability and the control strategy.The drive principle of the spherical manipulator based on friction is studied, and simplified to be a two-mass oscillator model, though which The dynamics characters, optimization, frequency respond, and the control strategy is studied.Firstly, based on the former experiment, the investigation is on the dynamic characters of the friction drive principle. The dynamics model is made up to numerically study the movement caused by the friction drive principle. Then, the movement is divided into basic vibration state and micro vibration when the state changes according to the simulation to demonstrate the cause of the movement of friction drive. The definition of the movement is composed by the forced vibration and self-excited vibration is presented, and verified.Then, the phase-space equations is presented based on the two-mass-oscillator dynamic equations, taking the relative velocity as the factors, to get the criterion as how to distinguish the stick phase and slip phase, which give a great convenience to optimize the design, and stability and control strategy.The response is studied following. The common solution is given based on the harmonic balance method, numerical method and optimization theory; the two-mass-oscillator model is analysed in MATLAB, both coincide with each.In the end, the stability is discussed under the Coulomb friction model, getting the normal force compensation method and the additive vibration control method, which are to stabilize the friction drive system to realize the controllability and stability, which is simple to realize in the micro manipulator.更多还原