四点调平系统刚柔耦合建模及机液联合仿真

随着调平系统安全性和承载稳定性要求的提高，在提高调平精度的同时，提出了控制各支腿所受载荷不超过一定变化范围的要求。针对四点对称分布的调平系统，分析其数学模型，得出各支腿受力变化的影响因素，通过仿真结果和历史实验数据进行验证。首先利用Motion建立调平系统的三维动力学模型，然后在AMESim中建立液压控制系统模型，最后再对系统进行联合仿真并分析。结果表明，支腿受力大小与对角支腿高度和的差异以及负载偏心程度有关。采用的刚柔耦合模型的机液联合仿真方法,可为类似课题的研究提供借鉴作用。

Rigid-flexible Coupling Model and Hydro-mechanical Co-simulation of Four Point Leveling System

With requirement of safety and bearing stability for leveling system becoming more and more strict， the need of controlling the load of each supporting leg within a certain range is put forward while improving leveling precision． A mathematical model based on a four-point symmetric leveling system is analyzed, thus the factors affecting load change of each leg are found， which is verified by simulation and historical data of leveling test． Firstly， a three-dimensional dynamic model of leveling system is set up by Motion． Secondly， a hydraulic control system model is built by AMESim． Finally， the collaborative simulation and analysis of the whole system are carried out． The result shows that the value of legs force is related to the height difference of diagonal legs and the degree of load eccentricity． The method of hydro-mechanical co-simulation based on a rigid-flexible coupling model can provide a reference for similar researches.