多维微振动模拟平台理论建模与仿真研究

摘要

目的 模拟空间飞行器上反作用产生的微振动.方法 设计一种多维微振动模拟平台,该模拟平台可产生空间六维微振动加速度谱.首先分析各个驱动腿及负载质心处的速度与加速度间的关系,接着结合牛顿-欧拉方法与拉格朗日方程推导得到多维微振动模拟平台的完整动力模型,最后利用多体系统软件ADAMS与MATLAB/Simulink进行联合仿真,以此联合仿真技术来验证理论模型的准确性.结果 理论模型与仿真分析之间的最大误差为2.84%.结论 该理论模型准确可靠,可以作为动力学控制的理论基础.%Objective To reproduce the micro-vibrations generated by the reaction on wheel assembly.Methods A multi-dimensional micro-vibration simulator (MMVS) which could generate six-dimensional micro-vibration acceleration spectrum was designed. First, the relation between velocity and acceleration of payload and the driving legs were ana-lyzed. The complete dynamic model of the MMVS was then derived with New-Euler method in combination with La-grange approach. Finally, co-simulation was adopted to verify the validity of the theoretical model by connecting ADAMS and MATLAB/Simulink.Results The maximum error between theoretical model and simulation was 2.84%.Conclusion The theoretical model is accurate and reliable and can be used as the theoretical foundation of the dynamics controller.