基于机电液联合仿真的高空测试转台俯仰运动控制  

Pitch Motion Control of High-altitude Test Turntable Based on Electro-mechanical-hydraulic Co-simulation

作　　者：丁彦苏 邓文翔 刘家辉 姚建勇[1] DING Yansu;DENG Wenxiang;LIU Jiahui;YAO Jianyong(School of Mechanical Engineer,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械制造与自动化》2024年第3期215-218,共4页Machine Building & Automation

基　　金：国家自然科学基金资助项目(51905271,52075262)。

摘　　要：针对高空测试转台俯仰运动存在负载不平衡以及液压缸之间的耦合效应,通过Adams和AMESim分别构建高空测试转台三维俯仰转台的刚柔耦合动力学模型和电液控制系统模型,采用PID控制算法对测试转台俯仰系统技术指标要求的工况进行联合仿真。结果表明:俯仰平台的实际角度能很好地跟踪角度指令,满足定向精度要求,为后续的试验研究奠定了理论基础。该方法弥补了单一仿真软件不能对系统进行完整仿真的不足,可以更加全面、准确地反映研究对象的真实控制与运动状态,对于复杂的机电液一体化系统具有普遍的适用性。Considering the load imbalance and the coupling between the hydraulic cylinders,the rigid-flexible coupling dynamics model and the electro-hydraulic control system model of the three-dimensional pitching turntable of the high-altitude test turntable were constructed by Adams and AMESim respectively.The PID control algorithm was used to co-simulate the working conditions required by the technical indicators of the test turntable pitching system.The results show that the actual angle of the pitching platform can track the angle command well and meet the requirements of orientation accuracy,which lays a theoretical foundation for subsequent experimental research.The method makes up for the deficiency that a single simulation software cannot perform a complete simulation of the system,and more accurately reflects the real control and motion state of the research object,which has universal applicability to complex electromechanical-hydraulic integrated systems.

关 键 词：高空测试转台 刚柔耦合 PID控制 联合仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]