基于多软件协同仿真的六自由度平台虚拟试验系统

提出了一种串联六自由度运动平台,根据该平台特点,在ADAMS动力学分析软件中搭建机械子系统模型,在AMESim仿真软件中搭建液压子系统及电机+滚珠丝杠传动模型,在Simulink中搭建末端控制对象期望运动位姿生成及解耦控制算法模型。通过分析各仿真软件间数据传输接口特性,建立以MATLAB软件为载体的动态数据共享通道,将ADAMS、AMESim模型分别以子模型及S函数形式导入至Simulink。从而建立基于Simulink为主仿真软件的机、电、液一体化的六自由度运动平台虚拟试验系统,实现平台的全面仿真分析,为平台实体设计与优化、控制策略选择等奠定基础。采用的基于MATLAB为主仿真软件的ADAMS、AMESim、Simulink联合虚拟试验系统创建方法对于复杂机、电、液一体化系统的仿真分析具有普遍的适用性。

Virtual Test System Based on Multi Co-simulation Software of Six Degrees of Freedom Platform

A series of six degree of freedom (6-DOF) motion platform is designed.According to the characteristics of the plat-form, the mechanical subsystem model is built in the ADAMS dynamic analysis software .The hydraulic subsystem and the motor +ball screw drive model were built in the AMESim simulation software , and the desired position and attitude signal generation and decoupling control algorithm model were built in the Simulink simulation software for the end control object .By analysis of the data transmission characteristics between simulation softwares , a shared channel for dynamic data carrier was established by MATLAB software .The AMESim and ADAMS models were introduced to Simulink in the form of sub models and S functions.Thereby, the 6-DOF virtual test platform of the mechanical-electrical-hydraulic integration simulation system based on Simulink was established , and the simulation a-nalysis of the platform was realized as a whole , to lay the foundation for the platform design and optimization , control strategy selection and so on.Using MATLAB-based simulation software ADAMS , AMESim, Simulink joint virtual test system to create methods for simu-lation of complex mechanical-electrical-fluid integration of systems of simulation analysis have general applicability .