三自由度液压伺服关节动力学模型简化

Simplification of dynamic model for three degree freedom hydraulic servo joint

采用拉格朗日法建立了三自由度液压伺服关节精确动力学模型.通过理论分析与仿真试验,阐述了重力项、惯性耦合项、向心项、哥氏项以及它们的组合形式对系统动态响应的影响,并根据以上诸因素对系统各自由度影响程度的不同,对精确模型进行了简化,仿真结果表明:简化模型与精确模型具有一致性.因此,采用简化模型代替精确模型是可行的,可使计算量大大减少.

An accurate dynamic model of three degree freedom hydraulic servo joint is established by L agrangian method.The influence of the system dynamic response is described by the gravity,the in- ertia coupling,the centripetal,Coriolis terms and their compages.According to the differentinfluence of them,the model is predigested by theoretical analysis and simulation test.The simulation results show that the simplification dynamic model is in agreement with the accurate dynamic model.There- fore,the simplification dynamic model is feasible,and the calculation is obviously cut down.