【作者】 王瑞；

【导师】 赵强；

【作者基本信息】 东北林业大学 ， 交通运输工程， 2022， 硕士

【摘要】 随着经济的快速发展,汽车行业的发展突飞猛进,安装在其上的贵重仪器和设备不仅会受到外界的振动干扰,也会受到自身干扰的影响,这些都会对设备的使用寿命产生一定的影响。而若设备之间产生共振,即当贵重仪器和设备受到极为强烈的振动时,可能会造成这些设备和仪器失去作用。因此,本文研究一种以Stewart机构为基础的多自由度的并联隔振平台来解决此问题,并将磁流变阻尼器作为隔振平台的执行器,然后设计合适的半主动控制器。主要内容有以下几点:首先,以具有优良性能的Stewart机构为平台的基础,采用磁流变阻尼器作为平台的执行机构,来提高平台的隔振效果。从理论上分析磁流变阻尼器的工作方式,给出磁流变阻尼器的结构和工作模式;对几种磁流变阻尼器的力学模型进行分析,并在Bouc-Wen模型的基础上建立一个参数线性化的Bouc-Wen模型,并利用遗传算法进行参数辨识,再基于辨识结果建立模型。第二,通过分析Stewart平台的基本类型,选取本文需要的隔振平台基本构型;对隔振平台进行力学分析,从旋转矩阵的建立到六自由度隔振平台支腿长度以及速度进行分析,获得隔振平台支腿长度和速度的Simmechanics模型;通过Simmechanics建立被动隔振系统模型,并对其仿真,为后续半主动控制器的设计和仿真建立良好的基础。第三,建立基于单自由度被动隔振系统,通过仿真验证隔振有效性;对隔振系统的固有频率进行分析,得到系统所需的固有频率,为之后模型的运行提供数据;基于理想天棚阻尼系统对六自由度隔振平台的控制算法进行设计,设计基于理想天棚控制的开关(on-off)控制算法,添加的开关控制能减少在进行开关控制时系统产生的轻微振动,将被动隔振系统算法作为对比算法验证on-off控制算法的有效性,采用Simulink和Simmechanics进行仿真;并验证半主动隔振平台应用到汽车上的隔振效果。最后,为了验证第二章磁流变阻尼器的特性和整个系统的隔振有效性,本文利用MATLAB/RTW软件进行磁流变阻尼器以及隔振平台的实验。实验内容包括磁流变阻尼器的性能实验,以及六自由度平台的硬件在环仿真实验。通过实验验证基于磁流变阻尼器的六自由度隔振平台的性能。更多还原

【Abstract】 With the rapid development of the economy and the rapid development of the automobile industry,the valuable instruments and equipment installed on it will not only be disturbed by external vibrations,but also by their own interference,which will have a certain impact on the service life of the equipment.And if resonance occurs between devices,that is,when the valuable instruments and equipment are subjected to extremely strong vibrations,it may cause these devices and instruments may become ineffective.Therefore,this paper studies a multidegree-of-freedom parallel vibration isolation platform based on Stewart mechanism to solve this problem,and uses the magnetorheological damper as the actuator of the vibration isolation platform,and then a suitable semi-active controller is designed as well.Main points of the content are listed below:First,the Stewart mechanism with good performance is used as the basis of vibration isolating platform in this paper.In order to improve the vibration isolating performance of the platform,magneto-rheological damper is used as the actuator.Basic features and working principles of the magneto-rheological damper are analyzed,and its structure and working mode are determined through introduction on the working modes.Common mechanical models of magneto-rheological dampers are analyzed.The Bouc-Wen model is parameterized as the basic mechanical model for magneto-rheological dampers for simulation.The basic parameters of the model are determined through parameter identification,to finalize the mechanical model.The genetic algorithm is used to identify the parameters,and then a model is established based on the identification results.Second,the type of vibration isolating platform used in the paper is determined by analyzing the basic types of the Stewart platform.Mechanical analysis is conducted on the vibration isolator from the establishment of rotation matrix,to the length and velocity of the outrigger of the vibration isolating platform with six degrees of freedom,to obtain its Simmechanics model;the model for passive vibration isolating system is created in Simmechanics and being simulated to build foundation for the subsequent design and modeling for controller.Third,simulating analysis is conducted under the passive vibration isolator created based on the passive vibration isolating system with single degree of freedom to verify its effectiveness;the inherent frequency of the vibration isolating system is analyzed on that basis to obtain the frequency required in the model,which provides data for the subsequent operating of the model;the on-off controlling algorithm of the vibration isolating system with six degrees of freedom is designed based on the ideal ceiling.The added on-off controller can reduce the slight vibration generated by the system during the process.The vibration system algorithm is used as a comparison to verify the effectiveness of the on-off control algorithm.Simulink and Simmechanics are used for simulation,and the vibration isolating effectiveness of applying the semi-active vibration isolation platform to vehicles is verified.And finally,in order to verify the characteristics of the magnetorheological damper in Chapter 2 and the vibration isolation effectiveness of the whole system,this paper uses Matlab/RTW software to carry out the experiments of the magnetorheological damper and vibration isolation platform.The content of the experimental includes the performance experiment of the magnetorheological damper and the hardware-in-the-loop simulation experiment of the platform with six degrees of freedom.The performance of the six-degree-offreedom vibration isolation platform based on the magnetorheological damper is verified through experiments.更多还原