6-UCU并联六自由度平台运动及其控制系统的研究

Research on the Movement of 6-UCU Six Degree of Freedom Parallel Platform and Its Control System

以6-UCU并联六自由度平台为研究对象,介绍了六自由度平台的结构及工作原理。利用Solidworks和Adams对六自由度平台进行运动学仿真和分析,得出伺服液压缸的运动特性曲线,验证6-UCU型并联六自由度平台的设计是否合理、准确,对整个六自由度平台的液压系统的安全性及可靠性具有指导作用。通过PID控制器的设计和Simulink仿真,研究了参数变化对系统性能的影响,找出了影响系统性能的关键参数,从而为改进和优化系统方案提供了合理的参考。

As the research object, the structure and the working principle of 6- UCU six degreeoffreedom parallel platform are introduced in this paper. Using Solidworks and Adams for kinematics simulation and analysis of 6-DOF platform, the motion curves of the servo cylinders are gotten to validate the accuracy of the 6-DOF aircraft platform.It plays an important role for the security and reliability of the hydraulic six degrees of freedom system. PID controller and simulink simulation are done to study the effect of the change of parameters on system performance. The key parameters are found out, which will affect the system performance. Thus it will provide reasonable references when the system is optimized.