并联6-PUS舰载稳定平台机构学基础理论与实验研究
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摘要
为了提高应对突发事件的能力，各种舰船已将直升机作为不可或缺的重要装备，但是舰船受海洋环境扰动产生的摇荡运动严重限制了直升机作用的发挥。稳定平台用于隔离舰船运动，为直升机提供一个相对稳定的起降平台，具有重大战略意义。为了克服现有舰载稳定平台难于实现多维稳定、大型化及承受重载的制约，本文开展了并联式舰载稳定平台机构学基础理论与实验研究，主要内容如下：
(1)根据舰船运动参数，定义了稳定平台补偿能力评价指标，讨论了面向任务的稳定平台运动参数设计原则。基于应用需求，综合了一种具有耦合特征的三自由度并联机构，提出了耦合度评价指标，分析了独立自由度参数对机构运动耦合性能的影响；针对Stewart机构存在的技术问题，提出了一种适用于大型、重载场合的6-PUS并联机构。通过对比各备选方案，确定了舰载稳定平台的最终机构方案。
(2)基于旋量的刚体动力学理论基础，推导了多刚体系统加速度伴随变换及伴随映射表达式。研究了舰载稳定平台各刚体之间的运动变换关系，基于李括弧雅克比矩阵，建立了并联式稳定平台机构在非惯性系中的运动学模型。
(3)基于刚体加速度的牛顿-欧拉方程分析了构件各惯性力，建立了并联式稳定平台机构在非惯性系中的耦合动力学方程；根据多刚体加速度伴随变换，讨论了舰载机着舰过程的运动学问题；搭建了系统的ADAMS虚拟样机模型，并将仿真结果与理论计算结果进行了对比分析。
(4)根据6-PUS并联机构特点，提出了基于舰船摇荡运动的构型参数优化方法。以分支输入位移为目标，优化了各结构参数；通过建立导轨轴线多目标优化模型及等效变换支撑杆运动，对各运动副轴线进行了优化设计；建立了包含静载平衡装置的分支动力学模型，研究了配重质量对驱动力的影响程度，优化设计了配重质量。
(5)在分析海况及连杆重量对机构动力学特性影响的基础上，通过定义各作用力影响因子，提出了非惯性系动力学模型简化策略。通过引入等效运动参数，研究了机构所处坐标系对分支输入性能的影响，在此基础上提出了一种基于地面试验的舰载稳定平台等效模拟方法。
(6)简要介绍了6-PUS并联机构各部分结构及安全防护装置的设计过程，搭建了控制系统和人机控制界面，参与设计并研制了舰载稳定平台实验样机。在此基础上开展地面实验研究，测试了样机各项运动性能指标，验证了机构学建模理论的正确性。最后，以理论计算模型为依据，对样机舰载实验进行可行性分析。
In order to increase the ability to deal with emergency, all kinds of ships have madehelicopter as integral equipment, but the sway movements of ship produced by marineenvironment restrict the exertion of helicopter badly. Stabilizing platform is used to isolatethe ship’s movement and provide a relatively stable landing platform for helicopter, whichis of great strategic significance. The existing ship-based stabilizing platforms are difficultto realize dimensional stability, large-scale and heavy-duty. To overcome these limitations,the paper investigates the basic theory and experimental investigation of multi-axisship-based stabilizing platform with parallel structure. The main research contents are asfollows:
(1) According to typical motion parameters of ship, the compensation ability indexesof stabilizing platform was defined, and the design principle of the task-oriented motionparameters of stabilizing platform was discussed. Based on the application requirement, a3-DOF parallel mechanism with coupling characteristic was synthesized; by defining theperformance indices of coupling characteristics, the effect of independent degree ofmechanism on kinematic performance was discussed. As to solve the critical problem ofStewart parallel mechanism, a6-PUS parallel mechanism which can be applied tolarge-scale and heavy-duty occasions was synthesized. By comparing with different typesof configurations, the final topology configuration of ship-based stabilizing platform wasdetermined.
(2) Based on the screw theoretical basis of rigid dynamics, the acceleration adjointtransformation and adjoint mapping of multi-rigid-body system were derived. The motiontransformation relationship among bodies of the ship-based stabilizing platform wasdeduced, and the kinematics model of parallel ship-based stabilizing platform innon-inertial frame was built based on Lie bracket Jacobian matrix.
(3) The inertia forces of component was analysised based on the rigid bodyacceleration Newton-Euler equation, and coupling dynamics model of of parallelship-based stabilizing platform in non-inertial frame was proposed. According to the adjoint transformation of multi-rigid-body accelerations, the kinematic problems in theprocess of aircraft approach glide down and landing were studied. A virtual prototypemodel of system was created with ADAMS software, and a contrast analysis was madebetween simulation results and theoretical computation results.
(4) According to the characteristics of6-PUS parallel mechanism, a configurationparameters optimum design method based on the ship’s motion was proposed. With jointdisplacement as a goal of optimization, the structure parameters which fit practicalrequirement were received. By building slider axis’s multi-objective optimization modeland equivalent transformation of supporting rod’s motion, each joint axis of mechanismwas optimized. Through building the dynamics model of mechanism, the effect ofcounterweight on joint driving force was studied and the counterweight was optimallydesigned.
(5) Through analyzing the impacts of sea status and weight of rods on dynamiccharacteristics, a strategy for dynamics model reduction in non-inertial frame wasproposed on the basis of the definition of the force impact factor. By introducing theequivalent motion parameters, the effect of coordinate system to the performance ofbranch input was studied, an equivalent simulation method for stabilizing platform basedon ground test was proposed.
(6) The design process of the structure of each part and safety guards of the6-PUSparallel mechanism was introduced briefly, the control systems and human-computerinterface control were established, and the experiment prototype of ship-based stabilizingplatform was developed. On this basis the prototype ground testing was carried out; theperformance indicator of mechanism was tested and the correctness of mechanicalmodeling theory was verified. Finally, the feasibility of test prototype practically used inships was analyzed based on the theoretical calculation model.
(1)根据舰船运动参数，定义了稳定平台补偿能力评价指标，讨论了面向任务的稳定平台运动参数设计原则。基于应用需求，综合了一种具有耦合特征的三自由度并联机构，提出了耦合度评价指标，分析了独立自由度参数对机构运动耦合性能的影响；针对Stewart机构存在的技术问题，提出了一种适用于大型、重载场合的6-PUS并联机构。通过对比各备选方案，确定了舰载稳定平台的最终机构方案。
(2)基于旋量的刚体动力学理论基础，推导了多刚体系统加速度伴随变换及伴随映射表达式。研究了舰载稳定平台各刚体之间的运动变换关系，基于李括弧雅克比矩阵，建立了并联式稳定平台机构在非惯性系中的运动学模型。
(3)基于刚体加速度的牛顿-欧拉方程分析了构件各惯性力，建立了并联式稳定平台机构在非惯性系中的耦合动力学方程；根据多刚体加速度伴随变换，讨论了舰载机着舰过程的运动学问题；搭建了系统的ADAMS虚拟样机模型，并将仿真结果与理论计算结果进行了对比分析。
(4)根据6-PUS并联机构特点，提出了基于舰船摇荡运动的构型参数优化方法。以分支输入位移为目标，优化了各结构参数；通过建立导轨轴线多目标优化模型及等效变换支撑杆运动，对各运动副轴线进行了优化设计；建立了包含静载平衡装置的分支动力学模型，研究了配重质量对驱动力的影响程度，优化设计了配重质量。
(5)在分析海况及连杆重量对机构动力学特性影响的基础上，通过定义各作用力影响因子，提出了非惯性系动力学模型简化策略。通过引入等效运动参数，研究了机构所处坐标系对分支输入性能的影响，在此基础上提出了一种基于地面试验的舰载稳定平台等效模拟方法。
(6)简要介绍了6-PUS并联机构各部分结构及安全防护装置的设计过程，搭建了控制系统和人机控制界面，参与设计并研制了舰载稳定平台实验样机。在此基础上开展地面实验研究，测试了样机各项运动性能指标，验证了机构学建模理论的正确性。最后，以理论计算模型为依据，对样机舰载实验进行可行性分析。
In order to increase the ability to deal with emergency, all kinds of ships have madehelicopter as integral equipment, but the sway movements of ship produced by marineenvironment restrict the exertion of helicopter badly. Stabilizing platform is used to isolatethe ship’s movement and provide a relatively stable landing platform for helicopter, whichis of great strategic significance. The existing ship-based stabilizing platforms are difficultto realize dimensional stability, large-scale and heavy-duty. To overcome these limitations,the paper investigates the basic theory and experimental investigation of multi-axisship-based stabilizing platform with parallel structure. The main research contents are asfollows:
(1) According to typical motion parameters of ship, the compensation ability indexesof stabilizing platform was defined, and the design principle of the task-oriented motionparameters of stabilizing platform was discussed. Based on the application requirement, a3-DOF parallel mechanism with coupling characteristic was synthesized; by defining theperformance indices of coupling characteristics, the effect of independent degree ofmechanism on kinematic performance was discussed. As to solve the critical problem ofStewart parallel mechanism, a6-PUS parallel mechanism which can be applied tolarge-scale and heavy-duty occasions was synthesized. By comparing with different typesof configurations, the final topology configuration of ship-based stabilizing platform wasdetermined.
(2) Based on the screw theoretical basis of rigid dynamics, the acceleration adjointtransformation and adjoint mapping of multi-rigid-body system were derived. The motiontransformation relationship among bodies of the ship-based stabilizing platform wasdeduced, and the kinematics model of parallel ship-based stabilizing platform innon-inertial frame was built based on Lie bracket Jacobian matrix.
(3) The inertia forces of component was analysised based on the rigid bodyacceleration Newton-Euler equation, and coupling dynamics model of of parallelship-based stabilizing platform in non-inertial frame was proposed. According to the adjoint transformation of multi-rigid-body accelerations, the kinematic problems in theprocess of aircraft approach glide down and landing were studied. A virtual prototypemodel of system was created with ADAMS software, and a contrast analysis was madebetween simulation results and theoretical computation results.
(4) According to the characteristics of6-PUS parallel mechanism, a configurationparameters optimum design method based on the ship’s motion was proposed. With jointdisplacement as a goal of optimization, the structure parameters which fit practicalrequirement were received. By building slider axis’s multi-objective optimization modeland equivalent transformation of supporting rod’s motion, each joint axis of mechanismwas optimized. Through building the dynamics model of mechanism, the effect ofcounterweight on joint driving force was studied and the counterweight was optimallydesigned.
(5) Through analyzing the impacts of sea status and weight of rods on dynamiccharacteristics, a strategy for dynamics model reduction in non-inertial frame wasproposed on the basis of the definition of the force impact factor. By introducing theequivalent motion parameters, the effect of coordinate system to the performance ofbranch input was studied, an equivalent simulation method for stabilizing platform basedon ground test was proposed.
(6) The design process of the structure of each part and safety guards of the6-PUSparallel mechanism was introduced briefly, the control systems and human-computerinterface control were established, and the experiment prototype of ship-based stabilizingplatform was developed. On this basis the prototype ground testing was carried out; theperformance indicator of mechanism was tested and the correctness of mechanicalmodeling theory was verified. Finally, the feasibility of test prototype practically used inships was analyzed based on the theoretical calculation model.
引文
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