Stewart平台的SimMechanics仿真  

SimMechanics Simulation of Stewart Platform

作　　者：须颖[1] 徐福红 邵萌[1] XU Ying XU Fuhong SHAO Meng(Laboratory of Micro Nano Testing and Motion Control, Shenyang Jianzhu University, Shenyang, China, 110168 School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, China, 110168)

机构地区：[1]沈阳建筑大学微纳检测与运动控制实验室,辽宁沈阳110168 [2]沈阳建筑大学机械工程学院,辽宁沈阳110168

出　　处：《沈阳建筑大学学报（自然科学版）》2017年第5期906-913,共8页Journal of Shenyang Jianzhu University：Natural Science

基　　金：国家十二五科技支撑计划项目(2011BAK15B09)

摘　　要：目的为更方便地建立模型进行仿真,避免不同软件之间的兼容问题,提高仿真的效率,研究Stewart平台的SimMechanics仿真.方法基于Matlab自身进行联合仿真,使用Matlab里的SimMechanics工具箱建立Stewart平台,该平台包括支腿轨迹产生器,执行机构,比例-积分-微分(PID)控制器和输出显示器.通过分析该Stewart仿真模型得到其运动特性,测试不同比例系数(K_p)值对PID控制器的影响.结果由示波器观察得到的支腿的伸缩长度与设定支腿的伸缩长度一致,证明该仿真可靠.对比3组仿真结果,验证了K_p值对PID控制器的影响是正确的.同时该仿真方法还可以得到上平台重心的运动轨迹.结论 Stewart平台的SimMechanics仿真方法提高了仿真效率,同时K_p参数的选值对实际应用有很大的指导意义,充分体现了仿真的作用.In order to set up the model more conveniently, simulation is carried out to avoid the compatibility between different software and improve the efficiency of simulation, the SimMechanics simulation of Stewart platform is studied. Joint simulation based on Matlab itself,using the SimMechanics toolbox in Matlab to build the Stewart platform. The platform comprises a leg track generator,an actuator,a proportional integral derivative（ PID） controller and an output display. By analyzing this Stewart simulation model, its motion characteristics are obtained and the influence of different Proportionality coefficient（ K_p） values on the PID controller is tested. The telescopic length of the supporting leg observed by the oscillography is consistent with the telescopic length of the setting leg,which proves that the simulation is reliable. By comparing the simulation results of the 3 groups, it is proved that the influence of K_p value on the PID controller is correct. The simulation method can also obtain the trajectory of the center of gravity of the upper platform. The simulation method improves the efficiency of simulation,meanwhile, the selection of the K_p parameters has a great guiding significance for practical applications,and fully reflects the role of simulation.

关 键 词：MATLAB 六自由度 SIMMECHANICS PID控制器 

分 类 号：TH113.2[机械工程—机械设计及理论]