设计简介
摘 要
汽车或货车在路面上行驶时，因为所遭遇的路况有所不同，会出现一些可以预见的诸如车体颠簸、摇晃、倾斜等情况，由此容易使车内所载货物有发生倾洒、泄露甚至爆炸的危险。车载稳定平台可通过其机械结构和电机的相关工作消除载体运动或其所受的干扰力矩的影响。稳定平台通过姿态传感器获取其实时变化的动态数据，据此数据计算倾斜程度，最后通过单片机整理数据，驱动直线电机运动，由此反复，回调平台倾斜角度以确保其动态姿态符合稳定标准。从而最大程度消除外界对车内载体的干扰，使平台处于动态平衡状态，以保证所载货物的安全。目前，稳定平台不仅应用于船载、车载，还广泛的应用在各行各业中，它已成为现今国际上普遍热衷研究的课题。
本文据此设计了一种新型的车载稳定平台，该稳定平台主要包括直线电机装置、四杆机构、剪叉机构、底盘机构等。它的主要结构参数有：长 800mm，宽 800mm，高 870mm，净重约 20Kg，最大起升后高度 1.27m。该装置总体分为两部分：上半部为平台部分，它的功能是：在路况不利于行驶，车体发生颠簸时，通过动态回调自身平台倾斜度，保证平台处于所需平衡状态，从而实现消除载体运动和其所受干扰力矩的功能。下半部为车体部分，由剪叉升降机构及全向轮底盘组成，可通过智能遥控系统进行定位升降，具有使平台可做任意方向的运动和原地 360°无死角转动。
对稳定平台的机械机构进行了运动分析和静力学分析，分析结果能够达到自动调节功能。最后，利用 solidworks 软件对机构进行了仿真运动，用 matlab 进行数据分析。证明其可以完成既定的自稳、升降和移动要求。通过该毕业设计可以实现智能化自适应自稳移动平台的各项既定功能。
关键词：稳定平台；直线电机；万向节；solidworks
汽车或货车在路面上行驶时，因为所遭遇的路况有所不同，会出现一些可以预见的诸如车体颠簸、摇晃、倾斜等情况，由此容易使车内所载货物有发生倾洒、泄露甚至爆炸的危险。车载稳定平台可通过其机械结构和电机的相关工作消除载体运动或其所受的干扰力矩的影响。稳定平台通过姿态传感器获取其实时变化的动态数据，据此数据计算倾斜程度，最后通过单片机整理数据，驱动直线电机运动，由此反复，回调平台倾斜角度以确保其动态姿态符合稳定标准。从而最大程度消除外界对车内载体的干扰，使平台处于动态平衡状态，以保证所载货物的安全。目前，稳定平台不仅应用于船载、车载，还广泛的应用在各行各业中，它已成为现今国际上普遍热衷研究的课题。
本文据此设计了一种新型的车载稳定平台，该稳定平台主要包括直线电机装置、四杆机构、剪叉机构、底盘机构等。它的主要结构参数有：长 800mm，宽 800mm，高 870mm，净重约 20Kg，最大起升后高度 1.27m。该装置总体分为两部分：上半部为平台部分，它的功能是：在路况不利于行驶，车体发生颠簸时，通过动态回调自身平台倾斜度，保证平台处于所需平衡状态，从而实现消除载体运动和其所受干扰力矩的功能。下半部为车体部分，由剪叉升降机构及全向轮底盘组成，可通过智能遥控系统进行定位升降，具有使平台可做任意方向的运动和原地 360°无死角转动。
对稳定平台的机械机构进行了运动分析和静力学分析，分析结果能够达到自动调节功能。最后，利用 solidworks 软件对机构进行了仿真运动，用 matlab 进行数据分析。证明其可以完成既定的自稳、升降和移动要求。通过该毕业设计可以实现智能化自适应自稳移动平台的各项既定功能。
关键词：稳定平台；直线电机；万向节；solidworks
ABSTRACT
Due to the impact of different roads conditions, there will be bumps or tilt during the car on the road inevitably, which results in the danger of goods to be transported dumping, leakage, explosion and other hazards. The intelligent adaptive self-stabilizing mobile platform can eliminate the influence of the carrier motion and the disturbance torquezit, obtain the dynamic data of the platform change through the attitude sensor, calculate the inclination degree, and then adjust the data through the single-chip microcomputer to drive the linear motor movement and adjust the dynamic attitude standard. Thus isolating the outside device interference, so that the platform has been in a horizontal state to ensure the safe transport of goods. Stable platform widely used in all walks of life, which has become the focus of the current international research topics.
First of all, this paper designs a new type of vehicle self-stabilizing platform, which includes linear motor device, four-bar mechanism，scissor mechanism and chassis mechanism. The main parameters are: length 800mm, width 800mm, height 870mm, net weight 20Kg, the maximum height after rise is 1.27m. The device is divided into two parts：the upper part is the platform part, which can be adjusted by changing their own posture when encountering in the bumps and always maintain a steady state of the level, so as to achieve the function of isolation movement object disturbance. the lower part is the body part,which composed of scissor lifting mechanism and omni-directional chassis. It can be lifted in any point by intelligent remote control system. Its function is to make the platform to do any direction’s movement and in situ 360 ° no dead angle rotation.
Secondly, the motion analysis and static analysis of the self-stabilizing mechanism of the stable platform are carried out,and the analysis result can achieve the function of automatic adjustment.Finally, Solidworks software is used to simulate the movement of the organization and using Matlab for data analysis. To prove that it can complete the established requirements of self-stabilization, lifting and moving.Through the graduation design can achieve the established function of intelligent adaptive self-stabilization mobile platform.
Key words: self-stabilizing platform；linear motor；universal joint；solidworks
Due to the impact of different roads conditions, there will be bumps or tilt during the car on the road inevitably, which results in the danger of goods to be transported dumping, leakage, explosion and other hazards. The intelligent adaptive self-stabilizing mobile platform can eliminate the influence of the carrier motion and the disturbance torquezit, obtain the dynamic data of the platform change through the attitude sensor, calculate the inclination degree, and then adjust the data through the single-chip microcomputer to drive the linear motor movement and adjust the dynamic attitude standard. Thus isolating the outside device interference, so that the platform has been in a horizontal state to ensure the safe transport of goods. Stable platform widely used in all walks of life, which has become the focus of the current international research topics.
First of all, this paper designs a new type of vehicle self-stabilizing platform, which includes linear motor device, four-bar mechanism，scissor mechanism and chassis mechanism. The main parameters are: length 800mm, width 800mm, height 870mm, net weight 20Kg, the maximum height after rise is 1.27m. The device is divided into two parts：the upper part is the platform part, which can be adjusted by changing their own posture when encountering in the bumps and always maintain a steady state of the level, so as to achieve the function of isolation movement object disturbance. the lower part is the body part,which composed of scissor lifting mechanism and omni-directional chassis. It can be lifted in any point by intelligent remote control system. Its function is to make the platform to do any direction’s movement and in situ 360 ° no dead angle rotation.
Secondly, the motion analysis and static analysis of the self-stabilizing mechanism of the stable platform are carried out,and the analysis result can achieve the function of automatic adjustment.Finally, Solidworks software is used to simulate the movement of the organization and using Matlab for data analysis. To prove that it can complete the established requirements of self-stabilization, lifting and moving.Through the graduation design can achieve the established function of intelligent adaptive self-stabilization mobile platform.
Key words: self-stabilizing platform；linear motor；universal joint；solidworks
目 录
