基于穿梭式母车运动学模型的matlab仿真分析

Simulation and Analysis of Shuttle Kinematic Model Based on Matlab

优化了V=f(s)的S型曲线,引入跃度参数的概念,结合运动学基础公式推导出瞬时功率。首先建立母车运动时间控制曲线的数学模型,利用专业的数学仿真软件matlab进行仿真分析,最后利用函数变换,建立了母车的运动位移控制曲线。通过仿真的效果,既可以优化控制曲线,还可以对电机功率进行优化。

In this paper, we optimized the S-shaped curve V=f（s） by introducing the concept of leaping degree, then in connection with the basic kinematic formulas, derived the magnitude of the instantaneous power of the shuttle-carrier system. First we built the mathematical model of the movement temporal control curve of the carriers in the system, simulated it using the matlab software, and at the end formulated the movement curve of the carriers.