| 多自由度电液混合运动模拟器动力学分析 |
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| 引用本文： | 周跃发,王涛,李鸿,樊涛,张治勇.多自由度电液混合运动模拟器动力学分析[J].哈尔滨工程大学学报,2012,33(4):454-458. |
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| 作者姓名： | 周跃发 王涛 李鸿 樊涛 张治勇 |
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| 作者单位： | 哈尔滨工程大学航天与建筑工程学院,黑龙江哈尔滨,150001 |
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| 摘 要： | 为了研究运动模拟器,采用牛顿和罗伯逊-维滕伯格方法建立了多自由度电液混合运动模拟器动力学方程,建模中把运动模拟器结构中的闭链结构看做自由铰约束,使建模过程得以简化,解决了罗伯逊-维滕伯格方法对移动铰、特别是球铰不易应用的难题.该动力学方程与拉格朗日方法相比,具有计算简便、省时的特点,便于运动模拟器的实际动力控制.动力仿真结果与模拟器实际运动相符合,证明动力学方程建模的正确性.
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| 关 键 词： | 电液混合 运动模拟器 多自由度 动力学方程 |
Dynamics analysis of a multi-degree-of-freedom electro-hydraulic mix-drive motion simulator |
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| ZHOU Yuefa
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WANG Tao
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LI Hong
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FAN Tao
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ZHANG Zhiyong.Dynamics analysis of a multi-degree-of-freedom electro-hydraulic mix-drive motion simulator[J].Journal of Harbin Engineering University,2012,33(4):454-458. |
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| Authors: | ZHOU Yuefa WANG Tao LI Hong FAN Tao ZHANG Zhiyong |
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| Affiliation: | (College of Aerospace and Civil Engineering,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | In this paper,in order to study motion simulator,Newton and Roberson-Wittenburg methods were used to establish the dynamic equation of a multi-degree-of-freedom electro-hydraulic mix-drive motion simulator.The closed kinematic chains were regarded as free dumpling constraints,which simplified the modeling and resolved the difficult questions concerning the kinematic hinge and spherical hinge by using the Roberson-Wittenburg method.The dynamic equation used was simple and time-saving compared with the Lagrange method,and it was good for actual control of the motion simulator.Dynamic computer simulation results are well coincided with actual motion simulator,which prove the correctness of the dynamic equation modeling. |
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| Keywords: | electro-hydraulic mix-drive motion simulator multi-degree-of-freedom dynamics equation |
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