混合驱动机构虚拟样机仿真控制研究  

Research on Simulation Control of Hybrid-drive Mechanism's Virtual Prototype

作　　者：王湘[1] 蔡敢为[1] 

机构地区：[1]广西大学机械工程学院,广西南宁530004

出　　处：《计算机仿真》2009年第8期233-236,282,共5页Computer Simulation

基　　金：教育部科学技术基金资助项目(205119);广西制造系统与先进制造技术重点实验室主任课题(桂科能07109008_009_Z)

摘　　要：针对混合驱动机构实现成组运动规律的控制,机构的逆运动学理论计算非常繁琐和控制参数选择的问题,提出了一种应用ADAMS软件对混合驱动机构进行了逆运动学分析方法,以混合驱动压力机构为算例建立了虚拟样机模型,在确定恒速原动件运动规律基础上,实现一组给定运动轨迹,通过一般点驱动和曲线转化为样条函数的功能,快速得出了伺服电机的运动规律曲线。然后联合数值计算软件Matlab建立了PID协同仿真控制系统,参数进行了优化并对系统进行了仿真。仿真结果表明模型能较精确的实现成组运动规律,PID控制参数优化后可以有效地减小伺服电机角位移误差,所采用设计方法是快捷有效的,为混合驱动机构控制设计提供了一种新途径。Multitask output can be accurately provided by hybrid - drive mechanism. If control of a group of motion locus can be achieved, it is very inconvenient for the theoretical calculation of inverse kinematics. The method of analysis for inverse kinematics of hybrid - driven mechanism is developed by ADAMS. A virtual model of hybrid - drive mechanism is built. Constant rotational speed is provided by an original component motion, in order to achieve a group of motion locus. Movement curves of servomotor are obtained rapidly by the functions of the General Motion and curve transformed into Spline. A control system is proposed using ADAMS ＆ MATLAB co - simulation and PID controller parameters are optimized. The results of simulation show that the group of locus could be achieved accurately by control system. Error of servomotoran＇s angular displacement can be reduced. Therefore the design method is effective. A new design method is provided to control hybrid -drive mechanism.

关 键 词：混合驱动机构 逆运动学分析 比例积分微分控制 虚拟样机 

分 类 号：TP112[自动化与计算机技术—控制理论与控制工程]