【正文】 上，借助六只油缸的伸縮運(yùn)動(dòng)，完成上平臺(tái)在空間六個(gè)自由度（ X， Y， Z， α， β， γ）的運(yùn)動(dòng)，從而可以模擬出各種空間運(yùn)動(dòng)姿態(tài)，可廣泛應(yīng)用到各種訓(xùn)練模擬器如飛行模擬器、艦艇模擬器、海軍直升機(jī)起降模擬平臺(tái)、坦克模擬器、汽車駕駛模擬器、火車駕駛模擬器、地震模擬器以及動(dòng)感電影、娛樂設(shè)備等領(lǐng)域，甚至可 用到空間宇宙飛船的對(duì)接，空中加油機(jī)的加油對(duì)接中。由于六自由度運(yùn)動(dòng)平臺(tái)的研制，涉及機(jī)械、液壓、電氣、控制、計(jì)算機(jī)、傳感器，空間運(yùn)動(dòng)數(shù)學(xué)模型、實(shí)時(shí)信號(hào)傳輸處理、圖形顯示、動(dòng)態(tài)仿真等等一系列高科技領(lǐng)域，因而六自由度運(yùn)動(dòng)平臺(tái)的研制變成了高等院校、研究院所在液壓和控制領(lǐng)域水平的標(biāo)志性象征。 全套設(shè)計(jì)（圖紙）請(qǐng)聯(lián)系 174320523 各專業(yè)都有 2．確定總體方案，設(shè)計(jì)六自由度 運(yùn)動(dòng)平臺(tái)的本體結(jié)構(gòu)和液壓伺服系統(tǒng)并完成相關(guān)工程圖的設(shè)計(jì)。運(yùn)用虛擬樣機(jī)技術(shù)，在 ADMAS 環(huán)境下，對(duì)六自由度運(yùn)動(dòng)平臺(tái)進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的仿真。 四、接受任務(wù)學(xué)生： 機(jī)械 96 班 姓名 賴?yán)ら? 五、開始及完成日期： 自 2021年 11 月 12日 至 2021年 5 月 25 日 六、設(shè)計(jì)（論文）指導(dǎo)（或顧問）： 指導(dǎo)教師 簽名 簽名 簽名 教研室主任 〔 學(xué)科組組長(zhǎng)研究所所長(zhǎng) 〕 簽名 系主任 簽名 2021 年 11 月 12 日 全套設(shè)計(jì)（圖紙）請(qǐng)聯(lián)系 174320523 各專業(yè)都有 摘 要 六自由度運(yùn)動(dòng)平臺(tái)，由于有極為廣闊的應(yīng)用前景，可以完成在空間六個(gè)自由度（ X， Y，Z，α，β，γ）的運(yùn)動(dòng)，從而可以模擬出各種空間運(yùn)動(dòng)姿態(tài)，可廣泛應(yīng)用到各種訓(xùn)練模擬器上。 通過六自由度運(yùn)動(dòng)平臺(tái)的機(jī)構(gòu)特點(diǎn)及應(yīng)用，可以在平臺(tái)控制總體設(shè)計(jì)的基礎(chǔ)上完成液壓伺服系統(tǒng)的建模工作 ,在 Matlab 軟件中對(duì)系統(tǒng)進(jìn)行了仿真分析 ,將常規(guī) PID 控制和基于神經(jīng)網(wǎng)絡(luò)算法的先進(jìn) PID控制方法進(jìn)行對(duì)比 ,仿真結(jié)果表明基于神經(jīng)網(wǎng)絡(luò)的 PID控制方法對(duì)伺服系統(tǒng)具有良好的控制效果 ,同時(shí)也證明了電液伺服控制系統(tǒng)設(shè)計(jì)的合理性 ,將控制策略應(yīng)用于樣機(jī)平臺(tái) ,平臺(tái)運(yùn)行穩(wěn)定 ,流暢。 關(guān)鍵詞： 六自由度平臺(tái)；液壓； PID 控制 全套設(shè)計(jì)（圖紙）請(qǐng)聯(lián)系 174320523 各專業(yè)都有 Abstract Six degree of freedom motion platform, because there is a very broad application prospects, can be pleted in the space of six degrees of freedom (X, Y, Z, alpha, beta, gamma) movement, which can simulate various spatial motion, can be widely applied to various training simulator. As the development of six degree of freedom motion platform, relates to the mechanical, hydraulic, electrical, control, puter, sensor, the spatial movement mathematical model, realtime signal transmission and processing, graphic display, dynamic simulation and so on a series of hightech fields, so the development of six degree of freedom motion platform into colleges and universities, research institutes to hydraulic and control field level symbol. Through the mechanism, characteristics and application of six degree of freedom motion platform, can plete the modeling of hydraulic servo system based on the general control platform design, in the Matlab software to simulate the system analysis, the conventional PID control and PID neural work algorithm based on advanced control methods were pared, the simulation results show that the PID neural work the control method has good control effect of the servo system based on, it also proved that the design of electrohydraulic servo control system is reasonable, the control strategy is applied in the prototype platform, platform stable operation, smooth. As a platform to control the further improvement and laid the foundation for the perfection of. Key words： 6DOF platform； hydraulic； PID control 全套設(shè)計(jì)（圖紙）請(qǐng)聯(lián)系 174320523 各專業(yè)都有 目 錄 摘要 ................................................................................................................................................III ABSTRACT .................................................................................................................................. IV 目錄 .................................................................................................................................................V 1 緒論 ............................................................................................................. 錯(cuò)誤 !未定義書簽。 六自由度平臺(tái)發(fā)展及應(yīng)用 ................................................................... 錯(cuò)誤 !未定義書簽。 課題主要研究?jī)?nèi)容 ............................................................................................................... 4 2 六自由度運(yùn)動(dòng)平臺(tái)本體結(jié)構(gòu)設(shè)計(jì) ............................................................................................. 5 平臺(tái)主要性能指標(biāo) ............................................................................................................... 5 平臺(tái)結(jié)構(gòu) ............................................................................................................................... 5 平臺(tái)驅(qū)動(dòng)方式 ....................................................................................................................... 6 3 液壓缸設(shè)計(jì) ................................................................................................................................. 7 簡(jiǎn)介 ....................................................................................................................................... 7 液壓缸的設(shè)計(jì) ....................................................................................................................... 7 液壓缸的密封設(shè)計(jì) ............................................................................................................. 10 支承導(dǎo)向的設(shè)計(jì) ................................................................................................................. 10 防塵圈的設(shè)計(jì) ..................................................................................................................... 11 液壓缸材料的選用 ............................................................................................................. 11 液壓泵的選擇 ..................................................................................................................... 12 電機(jī)的選擇 ......................................................................................................................... 14 4 液壓油路設(shè)計(jì) ........................................................................................................................... 15 液壓設(shè)備外接線路 ............................................................................................................. 15 操作板 ................................................................................................................................. 15 程序地址分配 ..................................................................................................................... 16 芯片接線圖 .........................