三轴仿真转台系统模型建立及解耦控制研究  

Modeling of three axis simulator and decoupling control

作　　者：刘延斌[1] 金光[1] 何惠阳[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所航空成像与测量部,吉林长春130022

出　　处：《哈尔滨工业大学学报》2003年第3期323-328,共6页Journal of Harbin Institute of Technology

摘　　要：三轴仿真转台的惯性耦合、速度耦合及重力效应是影响仿真精度的主要因素 .采用MATLAB中simulink的仿真方法研究三轴仿真转台系统动力学模型以及解耦控制算法 .运用多刚体系统运动理论和拉—欧方程建立了系统动力学模型 ,提出了一种二阶系统反馈解耦控制方法 ,利用该控制方法设计了三轴仿真转台的解耦控制器 ,运用MATLAB软件的仿真工具箱 ,对三轴仿真转台整个机电系统进行了系统仿真 。The inertia coupling, velocity coupling, and gravity effect of a three-axis simulator are important factors influencing the simulation precision. The system dynamics model and decoupling control method are studied by the simulink method in MATLAB. The system dynamics model is built using the multi-body system theory and the Lagrange-Eula equation, a feedback decoupling control method is proposed, a decoupling controller is designed for a three-axis simulator, and the decoupling control system is simulated by using MATLAB's simulink toolbox. Simulation results have proved that the decoupling control method and the decoupling controller are effective and valid.

关 键 词：仿真转台 解耦控制 系统仿真 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]