爬行物理模型的建立与仿真分析

SIMULATION ANALYSIS FOR PHYSICAL MODEL OF STICK-SLIP

建立了爬行的物理模型(2自由度质量—弹簧—阻尼系统),根据模型所描述的动力学系统建立了状态参量的数学表达式,仿真分析了系统的刚度(水平、垂直方向)、阻尼比、质量和静动摩擦因数的差值对爬行评价指标的影响,从而得出:增大水平方向的刚度,减小阻尼比、系统的质量和静动摩擦因数的差值,增大驱动速度,适当地提高垂直方向的刚度,控制系统垂直方向的振幅可明显地减小爬行,并给出了表明仿真结果正确性的试验例证。

A new two-degree of freedom mass-spring-dampness system model for studying stick-slip is established. Based on the dynamics system describing of the model, mathematical expression of the state parameter is presented, and the relation between stiffness (horizontal, vertical), dampness, mass, differ- ence of static and kinetic coefficient of friction and state parameters of stick-slip is analyzed, which proves that stick-slip can be reduced by improving horizontal stiffness, decreasing dampness, reducing mass, cutting down the difference of static and kinetic coefficient of friction, properly choosing the vertical stiffness and properly controlling the vertical swing can reducing stick-slip. At a same time an experimental exemplification is showed that the results of simulation is correct.