平面自由运动半物理仿真系统的初始条件实现

提出了一种平面自由运动半物理仿真系统的设计,对系统仿真试验的初始条件形成过程进行了具体阐述。系统中应用了一种平面两自由度直角坐标运动装置,用于完成系统驱动及速度和位置控制,同时这种运动装置能够进行直角坐标跟随运动,并与其末端测量机构共同实现对平面自由运动物体的高精度大范围位姿测量。建立了系统的运动学模型,并设计相应的控制算法实现试验所需的运动过程,采用半闭环和闭环相结合的方法有效控制系统的末端累积误差;针对提出的复合测量方法,建立了测量原理的数学模型,并进行了精度分析和仿真计算。实验证明这种设计和相应的控制测量方法合理可行。

A kind of design on hybrid simulation system for planar free movement and the implementation of the initial conditions of the simulation experiments were described. A 2-DOF (Degree of Freedom) mechanism was designed to implement the functions of system driving, the positions and velocities control, and the high-precision and large-scope position and attitude measurement. The kinematics models of the experiment process of this system were built and the corresponding control algorithm was adopted. As the semi-closed loop control and the complete closed loop control methods were combined to be used, the terminal accumulated errors could be decreased as a result. As to the combine measurement method, the mathematic model of the measuring principle was given, and the precision analysis and the calculating simulation were reported in the sequel. The experimental results show that the design and the controlling and measuring methods are rational and feasible.