多刚体大惯量非线性系统试验与在环仿真

Test and Simulation of Hardware-in-Loop for Large Inertia and Non-Linear System Based on Multi-Rigid-Body

为研究多刚体多自由度质量矩系统的动态特性,建立了大惯量非线性硬件在环仿真系统的数学模型和实物样机,研究了变参数PID改进算法。该试验系统用于多自由度质量矩平衡系统的动态响应分析、控制算法研究和复杂系统的解耦控制。试验结果表明:在±10°的干扰下该系统能够保持动态平衡,具有仿真效果符合实际工况、算法可行和有效的特点。

In order to study the dynamic characteristics of multi rigid-body and multi-freedom degree mass moment system, the mathematical model and practical prototype of hardware-in-loop were built for large inertial and non-linear test system,and variable parameter PID control algorithm was improved. The system was used to analyze the dynamic response of mass moment balancing system with multi-freedom degree, to study control algorithm and decoupling of complex system. The system can maintain dynamic balance within±10° interference. The emulating effect conforms to practical conditions. The algorithm is feasible and efficient.