大量程柔性铰六维测力平台标定关键技术与实验研究
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摘要
随着大量程六维测力平台在飞机起落架落地冲力测试、火箭推力测试、航天器对接、风洞测力试验等领域的广泛应用，对其精度的要求也愈来越高。然而国内研制的六维测力平台受维间耦合严重、难于解耦等因素制约，测量精度低，限制了这类大型六维测力平台的实际应用。针对上述问题，本文以自主研制的大量程柔性铰六维测力平台为研究背景，开展了六维测力平台标定变形误差建模、非线性解耦等标定关键技术与实验研究工作。主要内容如下：
基于柔性铰六维测力平台的结构特点，利用螺旋理论对其进行了静力学分析；采用有限元法对其进行了标定变形分析与研究，给出了基于激光干涉仪的标定变形检测方法。
基于柔性铰并联机构连续刚度理论，对测力平台标定变形误差建模问题进行研究，建立了各个柔性分支刚度模型和测力平台连续刚度模型，通过求解连续刚度下的标定变形，得到了测力平台变形后的一阶影响系数矩阵，进而建立了标定变形误差模型；分析了不同载荷下结构变形对六维测力平台测量精度的影响。
给出了基于Donoho法和3σ准则的混合阈值去噪算法，仿真验证了算法的正确性；通过对已有非线性解耦理论的深入研究，建立了柔性铰六维测力平台非线性解耦模型；基于HHGA算法在结构参数优化方面的优势，对BP、RBF、WNN三种不同结构的神经网络进行优化，提出了测力平台非线性解耦的HHGA-BP、HHGA-RBF、HHGA-WNN三种算法；基于神经网络杂交建模技术，采用最小二乘法求解知识基模型，提出了测力平台杂交建模非线性解耦的NNHM-LSM算法；对上述算法及解耦流程进行了详细设计。
针对柔性铰六维测力平台标定测试的实际需求，设计了标定系统的功能结构模型；结合硬件系统主要组成部件的功能结构、技术参数及工作原理，设计集成了标定硬件系统；基于虚拟仪器理论、LABView和Matlab等技术，设计了标定软件系统的功能结构，并对主要功能模块及相应解耦算法进行了详细设计与实现，开发了测力平台标定软件系统。
设计了柔性铰六维测力平台静态标定实验流程和基于液压系统的六维力加载方案，开展了静态标定实验；基于实验数据，采用各种解耦方法进行解耦计算，得到了测力平台的Ⅰ类误差、Ⅱ类误差、线性度和耦合度等性能指标，通过综合对比分析，验证了所提出解耦算法有效性和采用技术的合理性；采用激光干涉仪对标定过程中测力平台的结构变形进行了检测与分析。
对柔性铰六维测力平台动态性能进行了研究，采用有限元仿真法对测力平台进行了模态分析，研究了其固有频率和振型。采用锤击法对测力平台进行频谱分析测试，得到了测力平台的固有频率、阻尼比等动态性能指标。
本文为其他类型的大量程六维测力平台标定系统开发以及相关技术与实验研究提供了参考，对开展大量程高精度六维测力平台的研制具有一定的指导意义。
As the wide range six-axis force platform is more and more widely used in aircraftlanding gear momentum test, rocket thrust test, spacecraft docking and wind tunnel test,precision requirement for it is getting increasingly higher. However, constrained byserious dimension coupling and decoupling difficulty, calibration accuracy of six-axisforce platform developed in China is low, which restrains the practical application of thelarge-scale six-axis force platform. To solve these problems, based on a wide rangesix-axis force platform with flexible joints developed by ourselves, some key calibrationtechnologies and experimental research of six-axis force platform, such as calibrationdeformation error modeling and nonlinear decoupling, are carried out in this thesis. Themain research contents are as follows:
Based on the structural features of flexible joints six-axis force platform, the screwtheory is applied in statics analysis, and its calibration deformation analysis and researchare carried out with FEM method. Meanwhile, a method of calibration deformationdetecting based on the laser interferometer is also given.
Based on the continuous stiffness theory of flexible joints parallel mechanism,calibration load platform deformation error modeling problems are researched, variousflexible branching stiffness models and continuous stiffness model of load platform areset up, through solving calibration deformation under continuous stiffness, first orderinfluence coefficient matrix is obtained, and calibration deformation error model is set up.The influences on measurement accuracy of six-axis force platform caused by thestructural deformation under different loadings are also analyzed.
A hybrid threshold denoising algorithm based on Donoho and3σ criterition is given,with its correctness verified by simulation experiments. Through further study, anonlinear decoupling model of flexible joints six-axis force platform is established. Basedon advantages of HHGA algorithm in structural parameters optimization, three differentneural networks, i.e., BP, RBF, WNN, are optimized, and three kinds of force platformnonlinear decoupling algorithm based on HHGA-BP, HHGA-RBF, HHGA-WNN areproposed. Based on neural network hybrid modeling technology, through solving knowledge base model with least square method, NNHM-LSM algorithm based on theforce platform hybrid modeling of nonlinear decoupling is given. The above mentionedalgorithm and decoupling process are also designed in detail.
To meet the actual demand of flexible joints six-axis force platform calibration test,a function structure model of calibration system is designed. Combined with functionstructure, technical parameters and operating principles of each key hardware systemcomponent, as well as calibration hardware system are designed and put up. Based onvirtual equipment theory, LABView and Matlab techniques, function structure ofcalibration software system is designed, and key function components and correspondingdecoupling algorithms are designed and achieved in detail, thus force platform calibrationsystem is developed.
Static calibration process of flexible joints six-axis force platform and six-forceloading scheme based on hydraulic system are designed, and static calibration experimentis carried out. Based on experiment data and various decoupling algorithms, someperformance indexes such asⅠerror, Ⅱ error, linearity and coupling of the platform areobtained. By comprehensive comparison and analysis, the algorithm effectiveness andtechnique rationality mentioned before are verified. The structure deformation of theplatform is detected and analyzed with laser interferometer during the calibration process.
Dynamic performance of flexible joints six-axis force platform is studied, its modalanalysis is done with FEM method and its natural frequency and vibration mode areanalyzed. Hammer test method is applied in spectrum analysis test, and dynamicperformance indicators such as natural frequency and damping ratio, are also obtained.
This thesis provides a reference for calibration system development andcorresponding experimental studies for other types of large range six-axis force platform,which is significant in developing large range high-precision six-axis force platform.
基于柔性铰六维测力平台的结构特点，利用螺旋理论对其进行了静力学分析；采用有限元法对其进行了标定变形分析与研究，给出了基于激光干涉仪的标定变形检测方法。
基于柔性铰并联机构连续刚度理论，对测力平台标定变形误差建模问题进行研究，建立了各个柔性分支刚度模型和测力平台连续刚度模型，通过求解连续刚度下的标定变形，得到了测力平台变形后的一阶影响系数矩阵，进而建立了标定变形误差模型；分析了不同载荷下结构变形对六维测力平台测量精度的影响。
给出了基于Donoho法和3σ准则的混合阈值去噪算法，仿真验证了算法的正确性；通过对已有非线性解耦理论的深入研究，建立了柔性铰六维测力平台非线性解耦模型；基于HHGA算法在结构参数优化方面的优势，对BP、RBF、WNN三种不同结构的神经网络进行优化，提出了测力平台非线性解耦的HHGA-BP、HHGA-RBF、HHGA-WNN三种算法；基于神经网络杂交建模技术，采用最小二乘法求解知识基模型，提出了测力平台杂交建模非线性解耦的NNHM-LSM算法；对上述算法及解耦流程进行了详细设计。
针对柔性铰六维测力平台标定测试的实际需求，设计了标定系统的功能结构模型；结合硬件系统主要组成部件的功能结构、技术参数及工作原理，设计集成了标定硬件系统；基于虚拟仪器理论、LABView和Matlab等技术，设计了标定软件系统的功能结构，并对主要功能模块及相应解耦算法进行了详细设计与实现，开发了测力平台标定软件系统。
设计了柔性铰六维测力平台静态标定实验流程和基于液压系统的六维力加载方案，开展了静态标定实验；基于实验数据，采用各种解耦方法进行解耦计算，得到了测力平台的Ⅰ类误差、Ⅱ类误差、线性度和耦合度等性能指标，通过综合对比分析，验证了所提出解耦算法有效性和采用技术的合理性；采用激光干涉仪对标定过程中测力平台的结构变形进行了检测与分析。
对柔性铰六维测力平台动态性能进行了研究，采用有限元仿真法对测力平台进行了模态分析，研究了其固有频率和振型。采用锤击法对测力平台进行频谱分析测试，得到了测力平台的固有频率、阻尼比等动态性能指标。
本文为其他类型的大量程六维测力平台标定系统开发以及相关技术与实验研究提供了参考，对开展大量程高精度六维测力平台的研制具有一定的指导意义。
As the wide range six-axis force platform is more and more widely used in aircraftlanding gear momentum test, rocket thrust test, spacecraft docking and wind tunnel test,precision requirement for it is getting increasingly higher. However, constrained byserious dimension coupling and decoupling difficulty, calibration accuracy of six-axisforce platform developed in China is low, which restrains the practical application of thelarge-scale six-axis force platform. To solve these problems, based on a wide rangesix-axis force platform with flexible joints developed by ourselves, some key calibrationtechnologies and experimental research of six-axis force platform, such as calibrationdeformation error modeling and nonlinear decoupling, are carried out in this thesis. Themain research contents are as follows:
Based on the structural features of flexible joints six-axis force platform, the screwtheory is applied in statics analysis, and its calibration deformation analysis and researchare carried out with FEM method. Meanwhile, a method of calibration deformationdetecting based on the laser interferometer is also given.
Based on the continuous stiffness theory of flexible joints parallel mechanism,calibration load platform deformation error modeling problems are researched, variousflexible branching stiffness models and continuous stiffness model of load platform areset up, through solving calibration deformation under continuous stiffness, first orderinfluence coefficient matrix is obtained, and calibration deformation error model is set up.The influences on measurement accuracy of six-axis force platform caused by thestructural deformation under different loadings are also analyzed.
A hybrid threshold denoising algorithm based on Donoho and3σ criterition is given,with its correctness verified by simulation experiments. Through further study, anonlinear decoupling model of flexible joints six-axis force platform is established. Basedon advantages of HHGA algorithm in structural parameters optimization, three differentneural networks, i.e., BP, RBF, WNN, are optimized, and three kinds of force platformnonlinear decoupling algorithm based on HHGA-BP, HHGA-RBF, HHGA-WNN areproposed. Based on neural network hybrid modeling technology, through solving knowledge base model with least square method, NNHM-LSM algorithm based on theforce platform hybrid modeling of nonlinear decoupling is given. The above mentionedalgorithm and decoupling process are also designed in detail.
To meet the actual demand of flexible joints six-axis force platform calibration test,a function structure model of calibration system is designed. Combined with functionstructure, technical parameters and operating principles of each key hardware systemcomponent, as well as calibration hardware system are designed and put up. Based onvirtual equipment theory, LABView and Matlab techniques, function structure ofcalibration software system is designed, and key function components and correspondingdecoupling algorithms are designed and achieved in detail, thus force platform calibrationsystem is developed.
Static calibration process of flexible joints six-axis force platform and six-forceloading scheme based on hydraulic system are designed, and static calibration experimentis carried out. Based on experiment data and various decoupling algorithms, someperformance indexes such asⅠerror, Ⅱ error, linearity and coupling of the platform areobtained. By comprehensive comparison and analysis, the algorithm effectiveness andtechnique rationality mentioned before are verified. The structure deformation of theplatform is detected and analyzed with laser interferometer during the calibration process.
Dynamic performance of flexible joints six-axis force platform is studied, its modalanalysis is done with FEM method and its natural frequency and vibration mode areanalyzed. Hammer test method is applied in spectrum analysis test, and dynamicperformance indicators such as natural frequency and damping ratio, are also obtained.
This thesis provides a reference for calibration system development andcorresponding experimental studies for other types of large range six-axis force platform,which is significant in developing large range high-precision six-axis force platform.
引文
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