基于EtherCAT总线的八轴七联动高级海况环境仿真平台  

An eight-axis and seven linkage advanced sea state environment simulation platform based on EtherCAT bus

作　　者：安康康 孟凡军[2] 穆朝絮[1] 黄金鑫[2] 袁巍[2] AN Kangkang;MENG Fanjun;MU Chaoxu;HUANG Jinxin;YUAN Wei(Tianjin University,Tianjin 300072,China;Beijing Precision Engineering Institute for Aircraft Industry,Beijing 100076,China)

机构地区：[1]天津大学,天津300072 [2]北京航空精密机械研究所,北京100076

出　　处：《中国惯性技术学报》2024年第4期417-424,共8页Journal of Chinese Inertial Technology

基　　金：航空工业应用创新基金(625011804)。

摘　　要：针对水流模拟海况时存在的运动不受控以及常规海况模拟平台模拟海况等级低,运动自由度不足等问题,提出利用八自由度运动平台模拟高级海况环境进行海浪涌动测试的方法。设计了由直线运动平台、旋转机构和6自由度(6-DOF)并联机构组成的串并联混合八自由度高级海况环境仿真平台,其运动加速度大,自由度多,运动方式多样。基于Ether CAT实时总线技术设计了八轴七联动的运动控制算法,并采用惯量匹配技术抑制抖动和噪声,实现了宽惯量范围的精确、稳定、同步(小于1μs)控制。设计了基于外部信号接收器的实时精密补偿技术和双齿轮消隙技术,提高了速率精度和平稳性,定位精度达到10μm。设计了复合叠加摇摆、文件仿真、复合叠加摇摆与文件仿真叠加运动和实时仿真运动方式,可模拟到五级高海况或将实航数据回灌后模拟水下、水面或机载的运动,用于导航系统的姿态模拟测试。To address the issues of uncontrollable motion during water flow simulation of sea conditions,as well as low simulation levels and insufficient degrees of freedom in conventional sea condition simulation platforms,a method of using an eight-degree of freedom motion platform to simulate advanced sea conditions for wave surge testing is proposed.A series parallel eight-degree of freedom advanced sea state environment simulation platform is designed,which is composed of linear motion platform,rotating mechanism and 6 degrees of freedom(6-DOF)parallel mechanism.The platform has large motion acceleration,many degrees of freedom and various motion modes.Based on EtherCAT real-time bus technology,an eight-axis and seven linkage motion control algorithm is designed.Inertia matching technology is used to suppress jitter and noise,and accurate,stable and synchronous control(less than 1μs)of wide inertia range is realized.The real-time precision compensation technology based on external signal receiver and the dual gear backlash elimination technology are designed to improve the speed accuracy,speed stationarity and positioning accuracy(less than 10μm).The composite superposition sway,file simulation,composite superposition sway and file simulation superposition motion and real-time simulation motion modes are designed,which can simulate up to level five high sea conditions or simulate the underwater,surface or airborne motion conditions after the real flight data is recharged,and complete the attitude simulation test of the tested navigation system.

关 键 词：串并联混合 惯量匹配 实时精密补偿 高级海况模拟 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]