基于RecurDyn和Matlab/Simulink的一种小型轮式平台的联合仿真

摘要

In order to verify the steering performance of the platform when the rear wheel is a caster,a joint simulation strategy based on RecurDyn and Simulink is proposed.In SolidWorks,a small wheeled platform was established.The front wheels of the platform were the driving wheels and the rear wheels were the caster wheels.The two main wheels were driven independently by two motors.The 3D model is introduced into RecurDyn,add the corresponding constraints,set the corresponding parameters,verify the accuracy of the model,establish the corresponding interface;in Simulink to build brushless DC motor model,and build the corresponding speed control system,Verify the correctness of the model;the speed of the two motors as output,through the interface input to the RecurDyn as a two -wheel drive,through the control of the motor to complete the platform straight,turn,center steering and other actions.The simulation results show that the wheeled platform has good steering performance,and the motor model can realize the corresponding function.The control strategy of the mo-tor is also feasible.This study is of great significance to the physical development and experiment of the platform.%为了验证后轮为万向轮时平台的转向性能,提出了一种基于 RecurDyn 与Simulink的联合仿真策略;在 SolidWorks 建立了一种小型轮式平台,平台前轮为主动轮,后轮为万向轮,两个主动轮分别由两个电机独立驱动;将三维模型导入到 RecurDyn 中,添加相应的约束,设定相应的参数,验证模型的准确性,建立相应的接口;在 Simulink 中搭建无刷直流电机的模型,并且搭建相应的调速系统,同时验证模型的正确性;将两个电机的转速作为输出,通过接口输入到 RecurDyn 中作为两主动轮的驱动,通过对电机的控制,从而完成平台的直行、转弯、中心转向等动作;仿真结果表明这种轮式平台有良好的转向性能,搭建的电机模型能够实现相应的功能,电机的控制策略也是可行的;本研究对平台的实物研制及实验具有重要意义.