三轴摇摆台运动算法建模与仿真

Modeling and Simulation of the Movement on the Swing Equipment with Three Axes

为了保证三轴摇摆台在启动、停止及模式切换等过程运行的平稳性.提出了一种摇摆台运动的控制算法.在满足角位移±25°、角速度±30°/s和角加速度100°/s2约束条件下,摇摆台在三个自由度运动方向上以最短的时间实现了平滑过渡.仿真结果表明,摇摆台运动过程中没有出现超调和震荡,且平滑过渡时间不小于2 s.

A movement algorithm of the swing equipment with three axes is presented in order to ensure the movement stabilization during the starting,stopping and mode switch of the swing equipment.Under the restriction of the angle displacement（±25°）,angle velocity（±30°/s） and angle acceleration（±100°/s^2）,the smooth control curve is obtained in every free movement direction,and the movement time is minimum.Matlab simulation results indicate that the movement don t overshoot and vibrate,and the transition time is than 2 seconds. The algorithm can completely satisfy the requirement of real movement of the swing equipment.