Hegaglide机构路况仿真器的控制方法

Mechanism traffic simulator's key technologies based on Hegaglide

为获得较高的系统跟踪精度,从动力学方程出发,研究了基于Hexaglide机构的路况仿真器的控制方法。建立滑模自适应的力矩辨识,将辨识得到的负载力矩作为系统的力矩前馈控制,并引入电机动力学方程约束速度、加速度的前馈补偿。应用MATLAB软件中的SimMechanics建立路况仿真器的机电耦合系统并进行仿真。结果表明,与传统PI控制方法相比,该控制方法可获得更加精确的位置跟踪精度。

Aimed at obtaining a high tracking accuracy, this paper seeks to investigate the control strategy of the Hexaglide-based mechanism traffic simulation, depending on the dynamics equation used to. The method consists of establishing a sliding mode adaptive disturbance torque identification, applying identified load torque as the torque feedforward control system, incorporating the feedforward compensation of the velocity and acceleration of the motor dynamic equation constraints in the system, and developing the electromechanical coupling system by MATLAB/SimMechanics. Simulation resuhs show that the method shows more accurate position tracking accuracy than traditional PI control method.