基于并联机构的高品质舰船稳定平台基础理论与关键技术研究

According to special requirements of radar and artillery and missile launch platform on large ships at sea, in addition, based on the advantages of heavy-load capacity, high accuracy, easiness to realize multi-axes synchronous and rapid dynamic response of spatial parallel mechanism, so,the project develops on fundamental theory and key technology research of mechanism synthesis , kinematics, dynamics and electro-hydraulic servo control on parallel type and stabilized platform of large ships, while, design and develop the system of stabilized platform of parallel type and multi-axes synchronous. One focus on solving configuration synthesis and optimization of stabilized platform at ships, for the main objective of large posture workspace; analysis and research on movement quality (motion/force transmitting characteristics and accuracy) of mechanism, for the main objective of putting forward a new performance index of parallel robot, independent of the coordinate system; study on dynamics of mechanism, for the main objective of solving dynamic response characteristics of mechanism; research on optimum design of the mechanical parameters based on characteristics of movement quality and dynamic response, for the main objective of increasing bearing capacity, stabilized accuracy and dynamic response; study on electro-hydraulic servo control strategy for dynamic response, control precision and robustness of the system. One can innovatively design a stabilized platform, made from parallel mechanism, which own proprietary intellectual property rights, then, manufacture and develop the experimental prototype of stabilized platform , controlled by electro-hydraulic servo. On this basis, the experimental study on test of the prototype of stabilized platform at ships is carried out, Which lay a foundation for practical application.

本项目针对海上大型舰船载雷达、火炮及导弹发射平台等特殊需要，基于空间并联机构承载大、精度高、易于实现多轴联动、动态响应快速等优点，开展面向大型舰船载并联式稳定平台有关的机构综合、运动学、动力学及电液伺服控制的基础理论及关键技术研究，设计开发并联式多轴联动稳定平台系统。重点研究以大姿态工作空间为主要目标的舰船稳定平台构型综合与优选；以提出与坐标系无关的并联机器人新型性能指标为目标的机构运动品质（运动/力传递特性和精度）的分析与研究；以求解机构动态响应特性为目标的机构动力学研究；以提高承载能力、稳定精度和动态响应为主要目标，基于运动品质特性和动态响应特性的机构参数优化设计研究；以提高系统动态响应、控制精度及鲁棒性的电液伺服控制策略研究；创新设计具有自主知识产权的并联式稳定平台，研制电液伺服控制稳定平台实验样机。在此基础上开展舰船稳定平台样机的测试实验研究，为实际应用奠定基。

电液驱动3-UPS/S并联稳定平台，结合隔离舰船扰动、保障舰船载设备及人员安全的需要，在实际工程领域具有广阔的应用前景。提出一种基于杆组理论进行并联机构型综合的方法，并获得批量新机型；提出了有效姿态工作空间的概念以及运动学分配性能指标，并在设计空间内绘制了有效姿态工作空间体积图谱以及运动学分配性能图谱，兼顾稳定平台有效姿态工作空间体积最大和运动学分配性能指标最优来优化稳定平台机构；将旋量键合图和传统键合图结合，对稳定平台系统建立了机、电、液多能域耦合全局动力学键合图模型；以基于实验的动力学参数辨识方法，辨识出全局动力学模型中平台惯性参数和驱动关节液压缸摩擦参数；基于稳定平台系统全局键合图模型，利用20-sim软件建立了稳定平台系统的全局仿真模型，通过仿真对比，证明了双闭环+速度前馈控制策略具有较高的控制精度，满足稳定平台跟踪控制的要求；研制电液驱动3-UPS/S并联稳定平台样机一台；完成并联稳定平台实验系统的搭建，证明了平台姿态空间满足±25度，在最大角速度10度/秒、最大角加速度20度/平方秒下，稳定跟踪精度小于1度的设计要求。基于无线通信技术，模拟两种海况（常规、恶劣），对平台进行了实时稳定跟踪性能的测试。测试结果表明：在常规海况时稳定平台具有较高的跟踪精度，具备隔离舰船扰动的能力。为该类机构最终推向实际应用奠定基础。