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目的为更方便地建立模型进行仿真,避免不同软件之间的兼容问题,提高仿真的效率,研究Stewart平台的SimMechanics仿真.方法基于Matlab自身进行联合仿真,使用Matlab里的SimMechanics工具箱建立Stewart平台,该平台包括支腿轨迹产生器,执行机构,比例-积分-微分(PID)控制器和输出显示器.通过分析该Stewart仿真模型得到其运动特性,测试不同比例系数(K_p)值对PID控制器的影响.结果由示波器观察得到的支腿的伸缩长度与设定支腿的伸缩长度一致,证明该仿真可靠.对比3组仿真结果,验证了K_p值对PID控制器的影响是正确的.同时该仿真方法还可以得到上平台重心的运动轨迹.结论 Stewart平台的SimMechanics仿真方法提高了仿真效率,同时K_p参数的选值对实际应用有很大的指导意义,充分体现了仿真的作用.
The purpose of this paper is to simulate the model more conveniently, to avoid compatibility problems among different softwares and to improve the efficiency of simulation.Study on the SimMechanics simulation of the Stewart platform.Methods Based on Matlab’s own co-simulation, using the SimMechanics toolbox in Matlab to establish the Stewart platform, The platform includes the outrigger trajectory generator, the actuator, the proportional-integral-derivative (PID) controller and the output display.After analyzing the kinematic characteristics of the Stewart simulation model and testing different proportional coefficient (K_p) .Results The telescopic length of the leg observed by the oscilloscope is consistent with the telescopic length of the set leg, which proves that the simulation is reliable.Comparison of three sets of simulation results, it is verified that the K_p value of the PID controller is correct. The simulation method can also get the trajectory of the center of gravity of the upper platform.Conclusion SimMechanics simulation method of Stewart platform improves the simulation efficiency, and the selection of K_p parameters is of great guiding significance for practical application, which fully reflects the role of simulation.