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基于ADAMS和MATLAB的翻转机构联合仿真研究

上一篇 / 下一篇  2017-09-27 22:19:35

建立三自由度翻转机构模型,将模型导入ADAMS中添加约束和驱动,进行运动学仿真,输出气缸回转轴和翻转板回转轴的角度变化曲线。建立翻转机构ADAMS动力学模型,创建活塞杆上端轨迹与输入输出变量,导入MATLAB/SIMULINK模块。在SIMULINK中建立控制系统,以气缸移动速度为输入指令,调整控制参数,实现活塞杆末端的既定轨迹跟踪,输出不同位置增益的响应曲线。仿真过程通过改变控制系统的参数,发现增大P可增加系统的响应速度,增大X_p可消除超调现象,减少振荡。联合仿真的研究为实际数控系统的机电耦合提供了设计依据。The model of the three-degree-of-freedom inversion mechanism was established, and the model was introduced into ADAMS to add the constraint and drive, and the kinematic simulation was carried out to simulate the angular variation curve of the rotary shaft of the cylinder and the rotary plate. Establish the ADAMS dynamic model of the flip mechanism, create the upper end of the piston rod trajectory and input and output variables, import MATLAB / SIMULINK module. SIMULINK in the establishment of the control system to the cylinder speed as the input command to adjust the control parameters to achieve the end of the piston rod trajectory tracking, the output of different position gain response curve. Simulation process by changing the control system parameters, found that increased P can increase the system response speed, increase X_p can eliminate overshoot, reduce the oscillation. The research of joint simulation provides the design basis for the electromechanical coupling of the actual numerical control system.

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