ADAMS与MATLAB联合仿真在3自由度并联机构控制中的应用  

Application of ADAMS and MATLAB union simulation in control of 3 DOF parallel mechanism

作　　者：姚莉君[1] 李成刚[1] 张军[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械设计》2012年第5期31-35,共5页Journal of Machine Design

基　　金：南京航空航天大学基本科研业务费专项科研资助项目(NS2011011);国家自然科学基金资助项目(51175263)

摘　　要：应用ADAMS软件对3自由度并联机构进行建模,并运用ADAMS与MATLAB/Simulink联合仿真的技术进行控制中的参数整定。通过此方法,可以初步确定并联机构在允许的工作行程中的PID参数及所需要的驱动力。从而解决了传统设计过程中机械和控制系统不匹配问题。The model of a 3 DOF parallel mechanism was es- tablished in the ADAMS, and the technology of ADAMS and Mat- lab/Simulink union simulation was applied to set the parameters of control system. With this method, the PID parameters of the paral- lel mechanism within allowable operating stroke and required driving forces can be determined initially. Therefore, the problem as the mechanical system does not match to control system in the traditional design process has been solved.

关 键 词：ADAMS MATLAB/SIMULINK 并联机构 PID参数 联合仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]