Controlling Research On Precise Assembly Platform Of Giant Laser Facility

Aiming at the research of a laser test,a loading tooling equipment is proposed for the installation of the optical module in the laser experiment.In this paper,a six degree of freedom device is designed to meet the requirements of precision assembly.The device consists of 3-PSS+PU and 4-PPR in series.The main research contents of this paper are as follows.A six degree of freedom mechanism consisting of 3-PSS+PU and 4-PPR in series is proposed to achieve precise mounting of the bottom loading module.Based on the spiral theorem,the degrees of freedom of the 3-PSS+PU and 4-PPR parallel mechanism are calculated.It is verified that the two parallel mechanisms can be adjusted to achieve the six degrees of freedom of the bottom loading module,and the two parallel mechanisms are redundantly driven in conclusion.The research on planar mechanism is relatively mature,so this paper focuses on the establishment of the kinematics dynamics model of 3-PSS+PU redundant parallel mechanism.The inverse kinematics model of 3-PSS+PU redundant parallel mechanism is established by closed vector method.The Newton iterative method is used to solve the position positively,and iteratively meets the problem requirements through error analysis.The Lagrangian method is used to establish the dynamic model of the 3-PSS+PU redundant parallel mechanism,and the driving force of the four modules is obtained by using the minimum driving force of the two norm.Finally,the model is built and output in MATLAB.The displacement,velocity,acceleration and driving force curves of the module under specific working conditions are compared with the curves obtained by simulation in ADAMS.The two types of curves are basically consistent,and the data point deviation is less than 1%,thus verifying the correctness of the model.A force mixed hybrid control strategy and a force position hybrid control with a synchronous controller are proposed.The block diagram of the three loop control system of the DC servo motor is built,and the system block diagram construction process based on the position control branch and the force control branch is respectively described.Finally,all branches are connected to realize Simulink and ADAMS co-simulation.The simulation results are analyzed,and the feasibility of the proposed force mixed hybrid control strategy is verified.It is proved that the synchronous controller can improve the coordination of the mechanism motion.The hardware and software of the bottom control system is designed.A complete set of complete solutions based on PC based industrial controllers and servo drives and motors from Beckhoff Systems.Based on the functional requirements of the mechanism,the function modules of the upper and lower position machines were designed,and the ADS communication of the upper and lower position communication solutions provided by Beckhoff was used.