为了对一种2自由度空间定向平台的运动进行精确控制，对其动力学建模问题进行了研究。此空间定向平台采用球齿轮齿盘进行传动。分析了定向平台的结构，建立了平台的运动学模型。在此基础上，利用拉格朗日方程建立了平台的动力学模型。结合平台结构参数，对平台输出轴末端点进行了轨迹规划，根据动力学模型求解直线电机驱动力的变化规律，然后通过仿真试验验证了动力学模型的有效性。结果表明:文中建立的动力学模型是有效的，两电机驱动力误差大小明显不同，需要对其中一台电机进行更精确的运动控制。研究结果对进一步分析该定向平台的动态特性、机构优化设计和运动控制具有重要的指导意义。为了对一种2自由度空间定向平台的运动进行精确控制，对其动力学建模问题进行了研究。此空间定向平台采用球齿轮齿盘进行传动。分析了定向平台的结构，建立了平台的运动学模型。在此基础上，利用拉格朗日方程建立了平台的动力学模型。结合平台结构参数，对平台输出轴末端点进行了轨迹规划，根据动力学模型求解直线电机驱动力的变化规律，然后通过仿真试验验证了动力学模型的有效性。结果表明:文中建立的动力学模型是有效的，两电机驱动力误差大小明显不同，需要对其中一台电机进行更精确的运动控制。研究结果对进一步分析该定向平台的动态特性、机构优化设计和运动控制具有重要的指导意义。
Abstract
For precisely control of the movement of a platform with 2 degrees, its dynamics is presented. The transmission form of this platform is a ring involute spherical gear meshing with a ring rack. The structure of the platform is analyzed, and the kinematics model is established. Then the dynamics model is established by Lagrange equation. Considering the parameters of the platform, the track of the endpoint is programmed, and the rules of the drive forces are acquired on the basis of the dynamics model. The validity of the dynamics model is verified through the dynamics simulation. The results show that the dynamics model is accurate, and the drive force errors of the two motors are significantly different. More precise movement can be acquired by improving the control of one of the two motors. The conclusions help to analyze the dynamic characteristics, mechanism optimizing design and movement control of directing platform.
关键词
机械学 /
球齿轮 /
齿盘 /
动力学 /
拉格朗日方程
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Key words
mechanics /
spherical gear /
ring rack /
dynamics /
Lagrange equation
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