基于NX与MATLAB的运动台刚柔耦合模型的建模与仿真  

Modeling and Simulation of Stage Control Based on NX and MATLAB Rigid-flexible Coupling Co-simulation

作　　者：杨凌光 刘帅 张金 郭威 陶金雨 YANG Lingguang;LIU Shuai;ZHANG Jin;GUO Wei;TAO Jinyu(The 45th Research Institute of CETC,Beijing 100176,China)

机构地区：[1]中国电子科技集团公司第四十五研究所,北京100176

出　　处：《电子工业专用设备》2023年第6期122-127,共6页Equipment for Electronic Products Manufacturing

摘　　要：为了进一步加强控制策略与机械结构的结合,达到提升控制水平,优化机械设计的目的,建立4自由度运动台的NX Simcenter Motion刚柔耦合模型,添加驱动力与传感器,将变量输出至MATLAB,在MATLAB中的Simulink模块中搭建计算仿真运动控制模型,计算后得到位移及误差数据。分别计算刚体模型、刚柔耦合模型的结果并分析。通过仿真计算及结果对比,可以得出结论:刚柔耦合模型与刚体模型相比,更接近轨迹规划;与实际结构相比,可以在设计初期没有实体结构的情况下进行测试。In order to strengthen the combination of control strategy and mechanical structure,achieve the purpose of improving the control level and optimizing the mechanical design,the rigid-flexible coupling model of 4-DOF stage was established,the driving force and sensor detection were added,then output those variables to MATLAB.Obtained the position error data through MATLAB/Simulink control calculation.The results of rigid-body model,rigid-flexible coupling model are calculated and analyzed.Through those results,it can be concluded that the rigid-flexible coupling model is closer to the trajectory planning than rigid body model;the rigid-flexible coupling model can also be used in the initial stage of design without real machine.

关 键 词：建模仿真 运动台控制建模仿真 刚柔耦合 运动台 NX运动学 矩阵实验室 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]