基于VL Motion和AMESim的液压六自由度平台联合仿真及试验研究

Experiment and Co-simulation Based on VL Motion and AMESim for Hydraulic Stewart Platform

为研究六自由度平台的优化设计及控制策略,需要对系统进行详细建模。针对液压六自由度平台仿真建模方法进行研究,提出一种机电液联合仿真的建模方法。采用AMESim对液压系统和控制系统建模,Virtual.Lab对平台机构动力学部分建模,通过软件之间的接口将机械、液压控制系统两部分模型联合,建立液压并联机构的通用仿真模型。通过与试验结果的对比验证了仿真模型的正确性。与传统数学建模方式相比,该方法发挥了各软件的优势,使建模过程简捷且高效,适用于复杂装备的设计与研究。

For the research on optimal design and control strategy of the hydraulic Stewart platform, a complete model is needed. In this paper, a co-simulation modeling method of hydraulic Stewart platform is presented, in which the hydraulic actuator servo system and the control system are built in AMESim and the mechanism part of the platform is built in Virtual. Lab. Through the interfaces provided by the softwares, a general simulation model including mechanical, hydraulic control system is constructed. Then compared with the real Stewart platform on ex- periment results, the co-simulation model is proved correct. As each software plays its own advantage, the co-simu- lation method is convenient and efficient, and also suitable for the design and research on complicated equipments.