【作者】 王昭；

【导师】 刘宏昭； 李鹏飞；

【作者基本信息】 西安理工大学 ， 机械电子工程， 2007， 硕士

【摘要】 混合驱动机构弥补了传统机械装置缺乏柔性和全伺服机械系统因柔性过大而造成浪费严重的缺点,较为理想地解决了机械柔性化和保持高速、高效、高负载之间的矛盾,是目前机构学领域研究的热点。本文在对平面闭链五杆机构进行运动学和逆运动学分析基础上,研究了混合驱动机构的复杂轨迹控制问题。主要研究内容如下:对平面闭链五杆机构进行了正、逆运动学分析,研究了机构输入参数对输出运动轨迹的影响,提出了一种确定机构原动件输入运动规律的方法。应用机构动态静力分析理论,提出了一种在机构构件尺寸和原动件运动规律已知情况下,计算两原动件驱动力矩的方法;应用langrange方程建立了平面闭链五杆机构的动力学模型,通过算例仿真计算,验证了该方法的正确性。确定了混合驱动五杆机构驱动系统的控制方案,对相关硬件进行了选取;采用VC++语言开发了相应的控制软件;设计了参数优化PID控制器和模糊自整定PID控制器,并将其应用于交流伺服电机输出规律的控制,对两种控制器的控制效果进行了实例仿真。设计了混合驱动五杆机构轨迹控制实验台;采用参数优化PID策略控制伺服电机的输出,实验结果显示:对伺服电机进行控制后,机构生成轨迹精度明显提高;最后对实验误差进行了分析。更多还原

【Abstract】 Hybrid-driven mechanism is a hot topic in mechanism and machine theory area. It has the advantages of having flexibility compared with traditional mechanical devices, and lower cost compared with full servo mechanical system. It solves the problem and contradiction among high speed, efficient and high load ideally. In this paper, based on the kinematic and inverse-kinematic analyses of a plane closed-loop five-bar mechanism, the complex track control problem of hybrid-driven mechanism is resarched. The main content is as follows:The kinematic and inverse-kinematic analysis of a plane closed-loop five-bar linkage mechanism are carried out. The influences of input parameters on the output movement track are analyzed, the velocities of two input bars of the mechanism are determined. Known the size and motion laws of the two input bars, using the dynamic static analysis theory of mechanism, a method for calculating the driving torque of two input bars is put forward. A simulation example is given to confirm correctness of the calculated driving torque law.The scheme of the drive system for hybrid-driven five-bar mechanism is determined, and some hardware used in this drive system are selected .The control software of this system is developed using VC++ language. The parameter optimizing PID controller and fuzzy self-adaptive PID controller are designed to control the output law of the AC servomotor. The simulations of two control methods are finished.The track control experiment platform of hybrid-driven five-bar mechanism is designed. The mechanism is driven by the AC servomotor used to adjust the output track. The experimented results show that the accuracy of generated track is improved significantly by applying parameters optimizing PID control method. The experiment error is analyzed as well.更多还原