摘要
为了满足公路检测装备智能化、高精度的需求,提出了一种应用并联式稳定平台补偿车辆外部扰动的解决方案。借助李群李代数等现代数学工具,推导了并联机构动平台与车辆外部扰动之间的数学关系,建立了非惯性系下并联机构的运动学模型;通过制定系统参数,建立了稳定平台的虚拟样机模型,对比分析仿真与数值计算结果,验证了理论分析方法的正确性;通过等效变换动平台运动参数,分析了平台所处坐标系对运动学性能的影响,提出了一种建立稳定平台在惯性系中的等效运动学模型的方法。
For the requirements of intelligence and high precision on highway detection equipment,a solution to compensate external disturbance of vehicle by using parallel stabilized platform was proposed.By means of modern mathematical tools such as Lie algebra,the mathematical relationship between the moving platform of parallel mechanism and the external disturbance of vehicle was derived,and the kinematic model of the parallel mechanism in noninertial system was established.The virtual prototype model of the stabilized platform was built by setting the system parameters,and the correctness of the theoretical analysis was verified by comparing and analyzing simulation and numerical calculation results.Through equivalent transformation of motion parameters of the moving platform,the influence of coordinate system on kinematic performance was analyzed,and a method of establishing equivalent kinematic model of stabilized platform in inertial system was put forward.
作者
罗二娟
LUO Er juan(Key Lab of Highway Construction and Maintenance Technology in Loess Region of Ministry of Transport, Shanxi Transportation Research Institute, Taiyuan 030006, Shanxi, China)
出处
《筑路机械与施工机械化》
2018年第8期125-130,共6页
Road Machinery & Construction Mechanization
基金
国家自然科学基金项目(51705299)
山西省基础研究计划项目(2015021126)
山西省交通运输厅科研项目(2017-1-25)
关键词
公路检测设备
并联机构
稳定平台
运动学模型
highway detection equipment
parallel mechanism
stabilized platform
kinematic model
