目标模拟器的控制误差研究  

Research on Control Error of an Target Simulator

作　　者：刘延斌[1,2] 金光[3] 何惠阳[3] 

机构地区：[1]天津理工学院机械工程学院 [2]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 [3]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

出　　处：《系统仿真学报》2004年第4期820-824,共5页Journal of System Simulation

摘　　要：对耦合效应及重力负载影响目标模拟器控制误差的规律进行了对比研究。首先利用多体理论及有关电机理论建立了目标模拟器的机电系统动力学模型,并提出了一种改进的计算力矩解耦控制方法,然后利用MATLAB中的Simulink对两种控制方法进行了数字仿真,最后通过对仿真结果的比较得出了耦合效应及重力负载对目标模拟器控制误差影响规律的有关结论。The law on coupling effect and gravity load impacting control error of the target simulator was studied. Firstly, mechantronic system dynamics model of the target simulator was built from multi-body theory and relative electricity theory, and an ameliorated decoupled control method was presented from calculating moment method. Secondly, the ameliorated decoupled control method and the unattached control method were contrastively simulated in virtue of Simulink module in MATLAB. Finally, the relative law on coupling effect and gravity load impacting control error of the target simulator is concluded by analyzing the simulation result.

关 键 词：控制误差 解耦控制 动力学模型 数字仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]