6腿支撑液压式平台自动调平算法

An automatic adjusting algorithm for the hydraulic platform with six legs

为了实现 6腿支撑液压式大吨位平台的计算机控制自动调平 ,参照Stewart并联机构 ,将高次静不定平台结构转化为静定结构 .通过对平台机构运动学和动力学分析 ,得到关于平台腿长、液压缸速度、加速度、驱动力的计算机参数化调平算法 .基于测量结果 ,给出平台自动调平的运动规划 .算例表明 ,算法正确 ,调整过程合理 .参数化自动调平算法既可作为调平闭环控制的依据 ,也为平台液压缸的结构设计、功率选择提供了定量参考 .

To realize automatic adjusting for the hydraulic platform bearing heavy loads with six legs, a stationary structure of the platform is designed to replace the original ultra stationary structure simulating Stewart parallel mechanism. An automatic adjusting algorithm for the lengths, velocities, accelerations and driving forces of the legs is given by analyzing kinematics and dynamics of the platform. The adjusting programming is implemented based on measurement. Computer simulation shows that the algorithm is valid. This algorithm is of value to closed loop control, structural design and power matching for the platform.