坦克发动机道路模拟测试平台动力学研究

RESEACH ON DYNAMICS OF THE PLATFORM USED TO SIMULATE THE TANK ENGINE'S MOVEMENT STATE

针对大型研制项目坦克发动机道路模拟测试平台,采用冗余构件多分支并联运动系统的结构形式,满足了其大负载、高灵活度、运动复杂的实际要求。在采用达朗贝尔法推导多自由度运动系统动力学方程的基础上,提出应用追加正解正则方程的方法,建立了简洁、实用的冗余构件多分支并联运动系统动力学解析方程,并对系统受力状态进行了仿真和试验对比分析,在实践中得到了成功验证。此动力学方程不仅可以为结构设计提供受力分析依据,还可以在实时控制中形成内部受力闭环,为此类系统力学特性的合理分析、实时控制性能的改善开辟了新途径。

The platform is a test-equipment which is used to simulate the tank engine＇s movement state when the tank runs on the road. A multi-branch parallel manipulator with redundant branches driven by hydraulic power is adopted, which can meet the requirements of heavy load, high agility and complicated movement. Using d＇Alembert principle to deduce the dynamics equation of multi-DOF parallel manipulator, the additional forward-kinematics canonical equation is introduced to carry out the dynamics calculation of the multi-branch parallel manipulator with redundancy branches. As a result, the sententious and practical dynamics equation of the platform is achieved. Moreover, the contrast between the simulation and the experiment is performed. And the analysis result seems to validate that the simulation result well matches the experimental result. This method not only provides theoretical reference for reasonable structure design, but also can be used in real-time control system. It seems to open up a feasible method to reasonably analyze the dynamics characteristic and improve the real-time control performance for this kind of system.