【摘要】 三轴仿真转台的惯性耦合、速度耦合及重力效应是影响仿真精度的主要因素 .采用MATLAB中simulink的仿真方法研究三轴仿真转台系统动力学模型以及解耦控制算法 .运用多刚体系统运动理论和拉—欧方程建立了系统动力学模型 ,提出了一种二阶系统反馈解耦控制方法 ,利用该控制方法设计了三轴仿真转台的解耦控制器 ,运用MATLAB软件的仿真工具箱 ,对三轴仿真转台整个机电系统进行了系统仿真 ,结果证明所提出的解耦控制方法及所设计的解耦控制器的有效性和实用性更多还原

【Abstract】 The inertia coupling, velocity coupling, and gravity effect of a three axis simulator are important factors having influence on simulation precision. The system dynamics model and decoupling control method are studied using the simulink method in MATLAB. The system dynamics model is built using multi body system theory and Lagrange Eula equation, a feedback decoupling control method is proposed, a decoupling controller is designed for a three axis simulator, and the decoupling control system is simulated using MATLAB’s simulink toolbox. Simulation results have proved that the decoupling control method proposed and the decoupling controller designeel for the three axis simulator are effective and valid.更多还原