摘要
考虑两自由度摇摆台内、外平台的耦合效应以及负载偏心造成的偏载力矩对驱动系统的影响,采用齐次变换方法建立了两自由度摇摆台的动力学模型。驱动系统采用齿轮齿条液压缸,考虑齿条间隙、液压流量非线性等影响,对液压伺服系统进行了仿真分析。仿真结果为驱动、控制系统的设计提供了参考依据。
Dynamical model of two degree of freedom （2-DOF） parallel driven platform was built by employing homogeneous co- ordinate transform matrix based on consideration of coupling effect between in and out platform and partial load torque＇s influence on driven system. Rack-and-pinion hydraulic actuating cylinder was used for driven system, and considering influence of gap of racks and nonlinear performance of hydraulic flow, the whole hydraulic servo control system was simulated and analyzed. Simulation results pro- vide a reference for design of driven and control system.
出处
《机床与液压》
北大核心
2014年第7期122-124,128,共4页
Machine Tool & Hydraulics
基金
中国工程物理研究院基金资助课题(2012B0203022)
关键词
摇摆台
耦合
动力学
伺服控制
Parallel driven platform
Coupling
Dynamics
Servo control
