摘要
针对单自由度平面连杆机构转动等效动力学模型——等效力矩和等效转动惯量表达式。通过神经网络将等效力矩和等效转动惯量映射成只是广义坐标的函数,推导了适用于MATLAB仿真的等效动力学模型动力学方程式,建立了等效动力学方程式的神经网络MATLAB/Simulink仿真模块,该仿真模块可以与杆组的运动学和动力学仿真模块搭建各种平面连杆机构动态特性仿真模型,对平面连杆机构进行动态仿真。并以一个平面RRR-RRP六杆机构为例,说明该神经网络求解模型在平面连杆机构动态特性MATLAB仿真的应用过程。
According to equivalent dynamic models of single-degree-of-freedom planar linkage's rotation——equivalent moment expression and equivalent rotary inertia expression, equivalent moment and equivalent rotary inertia were mapped as a function of generalized coordinates by neural network, and the dynamic equation of equivalent dynamic model was deducted which was fit for MATLAB simulation and establish neural network's MATLAB/Simulink simulation module of equivalent dynamic equation. This simulation module could construct simulation models of various planar linkage 's dynamic characteristics together with bar-group's kinetic and dynamic simulation module which could be used to do simulation for the planar linkage. Taking a planar hinged four-bar linkage for example to illustrate how the neural network's solution model is applied in MATLAB simulation of the RRR-RRP six-bar linkage's dynamic characteristics.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第3期751-754,758,共5页
Journal of System Simulation
基金
国家自然科学基金(60572174)