火控系统测试用6自由度运动模拟器研制

Development of 6-DOF motion simulator for firing control system testing

为了能够在实验室内对火控系统进行综合性能试验,采用液压驱动6自由度Gough-Stewart机构对载体的各种运动状态进行模拟.利用Gough-Stewart机构机械系统动力学和液压驱动系统之间的力/力矩和速度双向作用关系,将机械系统动力学模型和液压驱动系统模型相结合,建立了并联机构整体动力学模型.对运动模拟器的自由度耦合特性进行分析和实验研究.结果表明,自由度间耦合在系统固有频率范围内具有随着运动频率的提高而增强的特点.针对运动模拟器的安全保护问题,采用一种根据支腿长度直接对工作空间中的奇异区进行判别的方法,避免了使用复杂、耗时的雅克比矩阵条件数判断奇异性的方法,采用幅相控制(APC)和随机波复现技术,使正弦波和随机波的复现精度都得到了明显提高.

The hydraulically driven 6-DOF parallel Gough-Stewart mechanism was used as a motion simulator to simulate the real motions of carrier for testing firing control systems in laboratory.The bidirectional force/torque versus velocity interactions between mechanical dynamics system and its hydraulic driving system was explored to establish an integrated dynamic model.Then the couplings of pose outputs were presented and experimental results show that the couplings between these outputs will become more intense with the increase of motion frequency within natural frequency of the Gough-Stewart mechanism.Moreover,for the safety of the motion simulator,a simple criterion which only uses the lengths of legs instead of complicated and time-consuming method of condition number of Jacobian is proposed to distinguish singular area from the workspace.Amplitude and Phase Control（APC） and random wave duplication techniques were employed to greatly improve the simulation fidelity not only for sine waveform but for random waveform as well.