新型电动球形云台的数学建模与理论分析  

Establishment and Analysis of the Mathematical Model for A New Type of Electric Ball-head

作　　者：罗庆生[1] 计润达 俞鸿飞[3] 王柯宇 田恩彤 靳芬[1] 

机构地区：[1]北京理工大学机电学院,北京100081 [2]北京理工大学物理学院,北京100081 [3]北京理工大学计算机学院,北京100081 [4]北京理工大学机械与车辆学院,北京100081

出　　处：《机械设计与研究》2016年第5期49-54,共6页Machine Design And Research

基　　金：教育部2015年度大学生创新创业训练计划资助项目(201510007016)

摘　　要：根据创新与实用相结合的研究目标,设计开发了一种新型电动球型云台。为了增强其功能并改进其性能,通过深入分析云台的受力特点与平衡条件,探讨了保证云台灵活性的结构设计措施,并研究了实现云台极限负载能力的力学改善策略。进而利用MATLAB进行辅助运算和数据处理,阐释了云台运动姿态与代表其灵活性的最大角加速度之间的关系,讨论了影响云台极限负载的几个重要因素及其权重分配。在本文的理论指导下,相比第一代电动球形云台,本新型电动球形云台无论在灵活性、控制性,还是在负载性和实用性方面都得到极大改善,充分证明该数学建模与理论分析起到了极大作用,推动了新型电动球形云台设计的进步。According to investigating purpose of combing innovation with application, a new type of electrical ball- head has been designed. In order to improve the function and performance of it, the paper investigated the measure of structural designing, which assures flexibility of the head. By profoundly analyzing properties of forces acting on the head and their balance condition, mechanical improvement for maximum loading capacity of the head is achieved. Utilizing MATLAB for assistant calculation and data processing, the relationship between movement posture and maximum angular acceleration of the head is figured out, which represents the flexibility of it, and also several factors that greatly affect the flexibility and influential extents of each factor is discussed. Under direction of the theory proposed, comparing with the first generation of electrical ball-head, the new type of electrical ball-head has been greatly improved not only in flexibility and controllability but also in loading capacity and applicability, which show that mathematical modeling and theoretical analyzing in the paper have made a fabulous contribution, and promoted the designing enhancement of the new type of electrical ball-head.

关 键 词：电动球形云台 数学模型 理论分析 力矩平衡 MATLAB仿真 

分 类 号：O312.2[理学—一般力学与力学基础] TH139[理学—力学]