摘要
建立了用于六自由度运动模拟器的数字伺服步进液压缸的数学模型。该数字液压缸包括二相混合式步进电动机、四边滑阀、阀控非对称缸、细分驱动器和机械反馈机构等部分。建模和分析中考虑了阀芯受力、步进电机非线性、间隙和死区及摩擦力等问题。基于建模分析,在MATLAB/Simulink环境中对数字伺服步进液压缸系统进行了数值仿真。
A detailed mathematical model ot digital servo stepping hydraulic cylinder used in 6- Dof motion simulator was set up, which included the kinetics of 2-phase hybrid stepping motor, four -edge slide valve, and valve-controlled asymmetric cylinder, as well as subdivision driver and mechanical feedback mechanism. Some further aspects that should be paid more attention to in modeling and analyzing were considered, such as spool forces, stepping motor＇s non-linearity, gaps and dead zone, and friction forces of the cylinder. Based on the modeling, the simulation on the system was carried out in MATLAB/Simulink.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第16期1935-1938,共4页
China Mechanical Engineering
关键词
数字的
伺服
步进液压缸
建模
仿真
digital
servo
stepping hydraulic cylinder
modeling
simulation
