多刚体大惯量非线性系统试验与在环仿真  

Test and Simulation of Hardware-in-Loop for Large Inertia and Non-Linear System Based on Multi-Rigid-Body

作　　者：曹恒[1] 龙勇波[1] 钱志勤[1] 秦一氓[1] 李晓雪[1] 

机构地区：[1]华东理工大学机械与动力工程学院,上海200237

出　　处：《华东理工大学学报（自然科学版）》2008年第5期764-768,共5页Journal of East China University of Science and Technology

基　　金：国家自然科学基金(50775072);总装备部武器装备预研重点基金(6140511)

摘　　要：为研究多刚体多自由度质量矩系统的动态特性,建立了大惯量非线性硬件在环仿真系统的数学模型和实物样机,研究了变参数PID改进算法。该试验系统用于多自由度质量矩平衡系统的动态响应分析、控制算法研究和复杂系统的解耦控制。试验结果表明:在±10°的干扰下该系统能够保持动态平衡,具有仿真效果符合实际工况、算法可行和有效的特点。In order to study the dynamic characteristics of multi rigid-body and multi-freedom degree mass moment system, the mathematical model and practical prototype of hardware-in-loop were built for large inertial and non-linear test system,and variable parameter PID control algorithm was improved. The system was used to analyze the dynamic response of mass moment balancing system with multi-freedom degree, to study control algorithm and decoupling of complex system. The system can maintain dynamic balance within±10° interference. The emulating effect conforms to practical conditions. The algorithm is feasible and efficient.

关 键 词：大惯量 非线性系统 多自由度 硬件在环 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]