| 6—UPU电动平台动力学完整模型与简化模型仿真分析 |
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| 引用本文： | 武光华,龚烈航,卢颖,盖永军,潘春萍. 6—UPU电动平台动力学完整模型与简化模型仿真分析[J]. 农业机械学报, 2011, 42(4): 195-200 |
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| 作者姓名： | 武光华 龚烈航 卢颖 盖永军 潘春萍 |
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| 作者单位： | 1. 解放军理工大学工程兵工程学院,南京,210007
2. 空军航空大学军事仿真技术研究所,长春,130022 |
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| 摘 要： | 以6—UPU电动平台为研究对象,分析其构型不同点,在考虑电动缸质心偏离轴线位置与丝杠装置绕自身转动的基础上,基于运动学分析建立了完整的动力学模型并写成一般形式。以工程实际中的低速大负载电动平台为例,对完整与简化两种动力学模型进行了仿真分析,其误差度在1%～2.2%的范围内,验证了动力学模型简化条件的合理性。实例表明,所建模型对类似构型的运动平台有一定的通用性。
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| 关 键 词： | 电动平台 运动学分析 动力学模型 仿真 |
Integrated and Simplified Dynamics Modeling Simulation Analysis of 6-UPU Electric Platform |
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| Wu Guanghu,Gong Liehang,Lu Ying,Gai Yongjun and Pan Chunping. Integrated and Simplified Dynamics Modeling Simulation Analysis of 6-UPU Electric Platform[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(4): 195-200 |
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| Authors: | Wu Guanghu Gong Liehang Lu Ying Gai Yongjun Pan Chunping |
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| Affiliation: | PLA University of Science and Technology;PLA University of Science and Technology;Aviation University of Air Force;Aviation University of Air Force;Aviation University of Air Force |
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| Abstract: | 6-UPU electric platform was analyzed considering of the different points of the structural type.An integrated dynamic model of 6-UPU electric platform was built and written to general form based on kinematics analysis,considering of centroids of electric actuator deviating the axes of themselves and snail-mechanism going around the axes of themselves.Taking the heavy load electric platform with low speed as example,both integrated and simplified dynamics model were emulated and analyzed.The reasonability of... |
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| Keywords: | Electric platform Kinematics analysis Dynamics modeling Simulation |
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