向量键合图在平面多体系统建模中的应用研究  

Application of vector bond graph in planar multi-body system modeling

作　　者：单东升 梁全[1] 牛彪 SHAN Dongsheng;LIANG Quan;NIU Biao

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《现代机械》2021年第5期68-73,共6页Modern Machinery

基　　金：自然基金指导计划“具备力反馈能力的液压驱动机械手应用基础研究”(2019-ZD-0215)。

摘　　要：针对传统键合图应用在平面多体系统的建模中会导致模型复杂、不易理解等缺点的问题,提出了基于向量键合图的基础模型,对以上模型进行模块化处理,不仅可以用来表达平面多体系统的运动学及动力学特征,还具备形式紧凑,结构简洁的优点。在软件20-sim中通过单摆模型验证了基于基础模型进行建模的正确性;对双缸并联平台模型搭建的平台的多体结构部分的向量键合图模型与阀控缸的传统标量键合图模型连接进行仿真。仿真输出结果与运动学反解算法互相验证正确,证明基于键合图理论进行耦合建模对于多能域的平面多体系统是可行的,为多能域交叉的复杂耦合系统进行动态分析建模与仿真提供了新的有效工具。Aiming at the problems in planar multi-body system modeling by scalar bond graph,such as the model being complex and difficult to understand,three kinds of basic model based on vector bond graph are proposed.The models are modularized,which can not only be used to express the kinematic and dynamic characteristics of the planar multi-body system,but also has the advantages of compact form and simple structure.The feasibility of the modeling process is verified by simple pendulum model on software 20-sim.The connection between the vector bond graph model of the multi-body system based on the double-cylinder parallel platform and the traditional scalar bond graph model of the valve-controlled cylinder is simulated.The simulation results and the inverse kinematics algorithm are mutually verified,proving that the coupling modeling based on the bond graph theory is feasible for the planar multi-body system with multi-energy domains.This study has provided a new and effective tool for the dynamic modeling and simulation of complex coupling system with multi-energy domains.

关 键 词：向量键合图 平面多体系统 20-SIM 并联双缸平台 

分 类 号：TH137[机械工程—机械制造及自动化]