基于ADAMS和Matlab自平衡双轮电动车系统的联合仿真

ADAMS and Matlab's self-balancing two wheeled electric vehicle system co-simulation

运用虚拟样机技术,可以简化机械产品的设计开发过程,缩短产品的开发周期和降低开发成本,获得最优化和创新的设计产品。为了提高自平衡双轮设计的效率与可靠性,本文建立了基于虚拟样机技术的仿真系统。在ADAMS中建立自平衡双轮的动力学模型,首先以倒立摆数学模型为基础,应用拉格朗日方程构造系统的动力学模型,然后通过ADAMS与M atlab的接口ADAMS/Controls模块,实现自平衡双轮电动车基于ADAMS与M atlab的联合步行仿真。仿真结果表明,基于ADAMS和M atlab的自平衡机器人具有较好的动态性。

The use of virtual prototyping technology to simplify the design of mechanical product development process and shorten product development cycles and lower development costs,access to the most optimized and innovative designs.In order to provide self-balancing two-wheeled design efficiency and reliability,this paper builds technology based on virtual prototype simulation system.Created in the ADAMS dynamic model of self-balancing two-wheeled,inverted pendulum model initially based on Lagrange equation for constructing the dynamic model,and then with the Matlab interface ADAMS ADAMS / Controls module to achieve self-balancing ADAMS Based on two-wheeled electric vehicle joint walk with the Matlab simulation.Simulation results show that the ADAMS and Matlab＇s self-balancing robot has a good dynamic.