液压Stewart平台谐振频率优化设计研究  

Optimal Design of Hydraulic Stewart Platform Based on Resonance Frequency

作　　者：彭利坤[1] 吕帮俊[1] 熊先锋[1] 邢继峰[1] 

机构地区：[1]海军工程大学船舶与动力学院,武汉430033

出　　处：《噪声与振动控制》2010年第6期34-38,50,共6页Noise and Vibration Control

基　　金：国防预研基金(51414030105JB1109);海军工程大学自然科学基金(HGDJJ07013)

摘　　要：将Stewart平台的液压分支作为假想的单开链,由空间机构的位姿关系建立其组成构件的局部坐标系(LRFs),并利用RPY角描述方法,通过转移矩阵将各构件的刚度及质量矩阵依次转移到固定坐标系(FRF)中,得到了系统谐振频率的计算公式。在此基础上考虑机构的工作空间、液压缸长等约束条件,构建了综合衡量Stewart平台谐振频率的优化模型,分别采用拟牛顿优化算法(QNA)和遗传算法(GA),对系统的最小谐振频率最大化问题实现优化设计。优化结果表明,最小谐振频率与工作空间是互相制约的,在设计时需综合权衡。The legs of a Hydraulic Stewart platform are considered as virtual single open-loops.Local reference frames（LRFs） of manipulator components are established according to the mechanism configurations.RPY angular description is used in a transfer matrix which transforms the stiffness matrix and mass matrix of each component from LRFs to the fixed reference frame（FRF）,and the resonance frequency equation is obtained.An optimal model based on mechanism workspace,cylinder stoke etc is established to synthetically consider resonance frequency of the Stewart platform.Quasi-Newton algorithm（QNA） and genetic algorithm（GA） are applied to maximize the minimum resonance frequency of the system.Simulation results show that the minimum resonance frequency and workspace are contradictory factors and should be considered synthetically in design.

关 键 词：振动与波 STEWART平台 谐振频率 遗传算法 优化设计 

分 类 号：TP113.1[自动化与计算机技术—控制理论与控制工程]