| Stewart平台多能域系统动力学全解建模与实验 |
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| 引用本文： | 李永泉,刘天旭,王立捷,张立杰,程雪利.Stewart平台多能域系统动力学全解建模与实验[J].农业机械学报,2018,49(4):404-411. |
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| 作者姓名： | 李永泉 刘天旭 王立捷 张立杰 程雪利 |
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| 作者单位： | 燕山大学,燕山大学,燕山大学,燕山大学,河南工学院 |
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| 基金项目： | 国家自然科学基金项目(51405421、51275438)和河北省自然科学基金项目(E2015203101) |
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| 摘 要： | 围绕六自由度Stewart并联平台的多能域动力学建模展开研究。首先,采用旋量键合图建立了电动缸驱动Stewart平台机构本体动力学模型,采用传统键合图建立了伺服电动缸键合图模型,得到了该平台完整的机、电耦合的多能域系统动力学全局模型。其次,给定平台末端轨迹,对比Matlab理论计算、ADAMS软件仿真以及实验实测驱动力结果,验证了Stewart平台机构本体旋量键合图模型的正确性。最后,借助理论计算得到的驱动力,由平台系统多能域动力学全解模型进一步计算得到伺服电机电流,与通过实验得到的电机电流实测值对比,验证了该平台多能域系统动力学全解模型的正确性。为后续包含驱动单元惯性参数和摩擦参数在内的动力学参数辨识以及平台控制研究奠定了基础。
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| 关 键 词： | 并联机构 动力学建模 旋量键合图 多能域 |
| 收稿时间： | 2017/11/4 0:00:00 |
Multi-energy Domain Dynamic Full Solution Model and Experiment of Stewart Platform |
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| LI Yongquan,LIU Tianxu,WANG Lijie,ZHANG Lijie and CHENG Xueli.Multi-energy Domain Dynamic Full Solution Model and Experiment of Stewart Platform[J].Transactions of the Chinese Society of Agricultural Machinery,2018,49(4):404-411. |
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| Authors: | LI Yongquan LIU Tianxu WANG Lijie ZHANG Lijie and CHENG Xueli |
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| Institution: | Yanshan University,Yanshan University,Yanshan University,Yanshan University and Henan Institute of Technology |
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| Abstract: | Dynamic model of parallel mechanism is on the dynamics analysis, kinetic parameters optimization and the basis of the dynamic parameter identification, and the accurate dynamics model is the premise to realize its high speed and high precision control. The multi-energy domain dynamics modeling of six degrees of freedom Stewart parallel platform was studied. Firstly, the dynamic model of the Stewart platform driven by electric cylinder was established by using the screw bond graph, the equation of state was derived by using the traditional bond graph, the servo electric cylinder bond graph model was established, and the equation of state was derived, according to that, connecting the drive end to the mechanical body, and the whole solution of the dynamic model of multi-energy domain system would be obtained. Secondly, given the end trajectory of the platform, the drive displacement obtained by the reverse solution accorded with the requirement of trajectory planning on motion stability, the dynamic complete solution included the driving force and joint binding force was obtained by combining the state equation and comparing the theory calculation in Matlab, the simulation results in ADAMS and the real value of the driving force in experiment, the curve fitting degree was high which verified the correctness of the screw bond graph model. Finally, by means of driving force with theory calculate and the whole solution of the multi-energy domain dynamics model, the servo motor current was got, compared with the real value of the current, the correctness of the whole solution of multi-energy domain dynamics model would be verified. It laid a foundation for the identification of dynamic parameters and the research of platform control for the following parameters, including the inertial parameters and friction parameters of the drive unit. |
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| Keywords: | parallel mechanism dynamic modeling screw bond graph multi-energy domain |
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