基于ADAMS与MATLAB的Stewart次镜平台联合仿真

Stewart平台调整次镜位姿补偿像差,是提高空间相机成像质量的有效方法。为验证Stewart次镜平台机械及控制系统的可行性、正确性、提高设计效率,基于ADAMS与MATLAB接口技术,建立了Stewart平台机械与控制系统机电混合模型,进行了机电联合仿真研究。首先,对Stewart次镜平台进行了运动学理论分析,建立了运动学数学模型;然后,在ADAMS中建立了Stewart平台虚拟样机并进行运动学仿真,ADAMS中仿真结果与理论计算一致;再将ADAMS中Stewart平台动力学模型导出并嵌入MATLAB中,建立了机电联合系统模型;最后,以典型的阶跃和正弦位姿轨迹信号,对Stewart平台的位姿调整性能进行了仿真研究。仿真结果表明,Stewart次镜平台具有较高的稳态精度和较好的动态性能,仿真参数和数据为Stewart平台的研制提供了必要的设计依据。

Co-simulation of Stewart Platform for Secondary Mirror Based on ADAMS and MATLAB

In order to increase the design efficiency and verify the feasibility and correctness of the mechanical and con-trol system of a Stewart platform for second mirror pose tuning, a co-simulation of the electro-mechanical system of the Stewart platform was studied based on the platform's electro-mechanical model created using ADAMS and MAT-LAB interface technology. First, kinematics mathematical model was created using theory of inverse kinematics of the parallel mechanism. Then, the simulation of kinematics was performed after the virtual prototype of the Stewart plat-form was created in ADAMS,and the simulation results was consistent with the theoretical calculation. Then the mod-el of electro-mechanical system of the Stewart platform was established by exporting the ADAMS virtual prototype and embedded it in the control model of MATLAB. Finally, performance of pose tuning was studied by using typical step and sinusoidal signals as posture trajectory of the Stewart platform. The simulation results show that the Stewart plat-form for the secondary mirror has a high steady accuracy and good dynamic performance,and the simulation parameters and data provide the necessary design basis for the development of the Stewart platform.