基于Simulink的地电波检测机械臂运动控制器及动力学研究

Research on Motion Controler and Dynamics of Ground Wave Detection Manipulator Based on Simulink

基于Simulink仿真研究了地电波检测机械臂的动力学建模、仿真和分析。针对动力学建模问题,采用牛顿-欧拉法将地电波检测机械臂的各连杆质量、质心位置、惯性张量、连杆长度等带入,得到了其逆动力学方程,然后将计算好的动力学方程改写成状态空间方程的形式。基于地电波检测机械臂动力学模型设计了控制器,并在Simulink环境下进行了仿真,达到了良好的控制效果,为接下来更先进的控制器设计打下了基础。

In this paper,dynamic modeling,simulation and analysis of ground wave detection manipulator are studied based on simulink simulation.As for the dynamic modeling,the Newton-Euler method is adopted in this paper to substitute the mass,position of center of mass,inertia tensor and length of connecting rod of each link of the ground wave detection robot arm into the inverse dynamic equation,and then the calculated dynamic equation is rewritten into the form of state space equation.Based on the dynamic model of ground wave detection manipulator,the controller was designed and simulated in Simulink environment,which achieved good control effect and laid a foundation for more advanced controller design in the future.