基于ADAMS和MATLAB的双轴转台机电联合仿真

Mechanical-electronic Co-simulation for Dual-axis Turntable Based on ADAMS and MATLAB

采用机电联合仿真的方法对双轴转台进行设计和研究。首先根据系统性能要求设计包括电流环、速度环、位置环在内的双轴转台运动控制系统。然后选择电机,初步设计转台机械结构,并初步选定相关参数,在MATLAB/Simulink中建立相应的伺服控制模型,在ADAMS中建立相应的动力学模型,利用两个软件的信息交互功能,模拟双轴转台运动的全过程,并利用模拟结果调整PID、反馈系数等参数,使得系统的动态特性达到设计要求。仿真结果表明,双轴转台的动态特性符合设计要求,方位轴的位置跟随误差最大约为1.8°,俯仰轴的位置跟随误差最大约为0.72°,均达到了系统的设计要求,对转台实物的研究和开发具有一定的借鉴意义。

The design and research of the dual-axis turntable is carried out by electromechanical co-simulation method.Firstly,according to the performance requirements of the system,the motion control system of the two-axis turntable is designed,including the current loop,the speed loop and the position loop.Then select the motor,preliminarily design the mechanical structure of the turntable,and preliminarily select the relevant parameters,establish the corresponding servo control model in MATLAB/Simulink,establish the corresponding dynamics model in ADAMS,and use the information interaction function of the two software to simulate the whole process of the movement of the two-axis turntable.The simulation results are used to adjust the parameters such as PID and feedback coefficient,so that the dynamic characteristics of the system can meet the design requirements.The simulation results show that the dynamic characteristics of the two axis turntable meet the design requirements.The maximum position following error of the azimuth axis is about 1.8°and the maximum position following error of the pitch axis is about 0.72°,which meet the design requirements of the system.It has a certain reference significance for the research and development of the turntable.