摘要
为研究新型后铰支点可移式起升系统的运动特性,分别运用Pro/Engineer、ADAMS、AMESim和Simulink建立了机械、液压和控制系统模型,实现了联合仿真。分析了模糊PID的原理,对起升过程进行了分段,并对起升角度和水平油缸位移轨迹进行了规划。仿真结果表明:新型起升系统设计合理,可以完成预期运动轨迹;联合仿真技术不需要推导数学模型,能发挥各个软件的优势,建模高效;模糊PID控制技术提高了系统的抗干扰能力和稳定性;4-5-6-7插值多项式的位移、速度、加速度和冲击曲线都是光滑的,没有突变。
In order to research kinematics of the new lifting mechanisms with movable back-hinged-bearing,the mechanical,hydraulic and controll models are built with Pro /Engineer,ADAMS,AMESim and Simulink softwares,and jointed simulations are realized and the principle of fuzzy PID control is analyzed. The lifting process is divided into subsections and the trajectories of the lifting angle and displacement of horizontal cylinder are planned. The simulation results demonstrate that the design of the new lifting mechanisms is reasonable and it can achieve the anticipated motion trajectories; the technology of jointed simulation does not need the deduction of mathematical model and it can play the advantage of each software with high modeling efficiency. The fuzzy PID control technique enhances the anti-jamming ability and the stability of the system. The displacement,velocity,acceleration curves of four-five-six-seven polynomial interpolation and the impact curves are smooth without abrupt turns.
出处
《机械科学与技术》
CSCD
北大核心
2014年第11期1648-1651,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
起升系统
联合仿真
模糊PID
轨迹规划
acceleration
computer simulation
controllers
design
efficiency
errors
fuzzy control
fuzzy PID
jointed simulation
lifting system
MATLAB
motion plaming
schematic diagrams
three term control systems
trajctory plan
velocity
