多自由度电液混合运动模拟器动力学分析

Dynamics analysis of a multi-degree-of-freedom electro-hydraulic mix-drive motion simulator

为了研究运动模拟器,采用牛顿和罗伯逊-维滕伯格方法建立了多自由度电液混合运动模拟器动力学方程,建模中把运动模拟器结构中的闭链结构看做自由铰约束,使建模过程得以简化,解决了罗伯逊-维滕伯格方法对移动铰、特别是球铰不易应用的难题.该动力学方程与拉格朗日方法相比,具有计算简便、省时的特点,便于运动模拟器的实际动力控制.动力仿真结果与模拟器实际运动相符合,证明动力学方程建模的正确性.

In this paper,in order to study motion simulator,Newton and Roberson-Wittenburg methods were used to establish the dynamic equation of a multi-degree-of-freedom electro-hydraulic mix-drive motion simulator.The closed kinematic chains were regarded as free dumpling constraints,which simplified the modeling and resolved the difficult questions concerning the kinematic hinge and spherical hinge by using the Roberson-Wittenburg method.The dynamic equation used was simple and time-saving compared with the Lagrange method,and it was good for actual control of the motion simulator.Dynamic computer simulation results are well coincided with actual motion simulator,which prove the correctness of the dynamic equation modeling.