基于Simulink的六自由度磁悬浮运动台的建模与仿真  

Modeling and Simulation of 6-DOF Maglev Motion Platform Based on Simulink

作　　者：王尚成 刘玉杰[1] 王胜国[1] 夏旭光[1] WANG Shang-cheng;LIU Yu-jie;WANG Sheng-guo;XIA Xu-guang(The 27th Research Institute of China Electronics Technology Group Corporation,Zhengzhou 450047,China)

机构地区：[1]中国电子科技集团公司第二十七研究所,郑州450047

出　　处：《电光系统》2024年第1期26-33,共8页Electronic and Electro-optical Systems

摘　　要：动力学分析是运动装置设计过程中一项重要的内容。针对六自由度磁悬浮运动台,建立了基于牛顿力学的运动微分方程,分析了带有允余自由度的位置测量和计算方法、六自由度解耦多轴闭环反馈控制方法。基于Simulink软件,利用Simscape(物理模型)中的Multibody模块搭建了运动台的动力学模型和测量系统模型,通过控制模块建立了运动台的控制系统模型,将两者结合起来组成了能够按照设定轨迹运动的动力学仿真模型。为运动台设置加速度为2.4g的96场曝光轨迹,仿真得到运动台的各个电机在各个方向上的出力。该仿真模型搭建过程为多自由度运动装置的动力学分析提供参考。Dynamic analysis is an important part of motion device design.The differential equation of motion based on Newtonian mechanics is established for the six-degree-of-freedom maglev motion platform,to analyze the position measurement and calculation methods with redundant degrees of freedom.The six-degree-of-freedom decoupling multi-axis closed-loop feedback control is analyzed.Based on Simulink software,the Multibody mod-ule in Simscape(physical model)is used to build the dynamic model and measurement system model of the mo-tion platform,and the control system model of the motion platform is established by the control module.The dy-namic simulation model that can move according to the set trajectory is combined.A 96-filed exposure track with an acceleration of 2.4 g was set for the motion plaform,and the output of each actuator in each direction of the motion platform was simulated.The building process of the simulation model provides a reference for the dy-namic analysis of multi-degree-of-freedom motion devices.

关 键 词：运动台 动力学分析 仿真模型 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]