摘要
建立了一种六自由度运动平台的数学模型;按国家标准(GB/T 14410-93)定义的坐标系,导出了液压动作筒长度与平台六自由度位移之间的关系;最后根据液压动作筒的极限行程,采用数值仿真确定了平台单自由度运动时的幅值,对平台的多自由度组合运动也进行了仿真计算,为设计六自由度舰面模拟运动平台提供了理论依据.
The mathematical model of a 6-DOF motive platform is established. The relationship between the lengths of hydraulic actuators and the displacements of the platform is derived in basis of national standard GB/T 14410-93 for coordinate definitions. Then the amplitude of singular-degree motion of the platform is determined from numerical simulation in according with the limit of the actuators. Numerical simulations for multi-degree motions of the platform are conducted as well. The model can be used in design of a simulated 6-DOF shipboard-deck motive platform.
出处
《海军航空工程学院学报》
2006年第3期307-310,324,共5页
Journal of Naval Aeronautical and Astronautical University
基金
中国博士后科学基金资助项目(编号:2005038594)
关键词
模拟平台
数学模型
数值仿真
运动学
simulated platform
mathematical model
numerical simulation
kinematics
