基于ADAMS与MATLAB的EPS联合仿真应用与试验

应用MATLAB与ADAMS软件的各自优点,进行联合仿真,可以提高设计效率。降低研究成本。介绍了联合仿真原理和步骤,以及将基于ADAMS的整车模型和基于MATLAB的EPS控制系统模型进行针对汽车操纵稳定性的联合仿真试验,研究了EPS对汽车操纵稳定性的影响。     

ADAMS/Matlab环境下车辆悬架联合仿真分析

针对ADAMS/View环境下某车辆1/4整车动力学模型,通过ADAMS/Control模块建立了ADAMS与Matlab软件之间的通信连接,在Matlab/Simulink环境下建立最优联合控制系统,运用ADAMS和Matlab/Simulink软件(即ADAMS/Matlab)进行联合仿真,并与在Matlab单一环境下运行的仿真模型进行对比分析。结果发现:两种分析方法都能使车辆悬架簧上总质量质心加速度均方根值和控制能量降低,而ADAMS/Matlab软件联合仿真控制下的悬架簧上总质量质心加速度和控制能量下降幅度更大。     

联合仿真技术在3-RPS并联机构中的实践研究

这里采用机械与控制联合仿真的方法,在ADAMS中创建3-RPS并联机构的动力学模型,并在SIMULINK中建立3-RPS并联机构的控制模型;利用ADAMS/controls模块构成机构联合仿真模型,进行了联合仿真分析。最后通过联合仿真方法对3-RPS并联机构进行了精度分析,提出了提高3-RPS并联机构运行精度的措施。     

Pro/E与ADAMS的复杂模型传递方法

针对联合Pro/E和ADAMS对复杂机械系统动力学仿真的模型传递方法进行了研究,使复杂模型一次导入ADAMS中,可视化效果好。     

用PRO/E和ADAMS联合建立复杂机械系统的仿真模型

详细阐述了用ADAMS和Pro/E联合建立复杂机械系统仿真模型的步骤和注意事项,对ADAMS用户有极大的参考价值     

基于AMESim与ADAMS的送料系统的联合仿真

通过AMESim液压仿真软件与ADAMS动力学仿真软件，对送料系统进行联合仿真分析，以此来考察送料系统在送料过程中的动态特性，验证模型与仿真结果的合理性。     

基于ADAMS和MATLAB的汽车悬架系统仿真分析

文中对汽车半主动悬架系统的仿真分析采用了ADAMS和MATLAB联合仿真方法.在ADAMS中建立了1/4汽车悬架的动力学模型,然后用MATLAB软件建立汽车半主动悬架的阻尼控制模型,通过改变阻尼系数减小汽车的垂直振动.在MATLAB/SIMULINK中建立采用模糊逻辑控制的控制系统模型,分析汽车车身垂直方向的加速度,来达到汽车行驶的平顺性.ADAMS和MATLAB联合仿真方法为汽车动力学仿真提供了一种新途径.     

基于ADAMS的自动步枪自动机数值仿真研究

以某自动步枪为研究对象,利用 UG 和 ADAMS 软件联合建立了其三维仿真模型,将其导入ADAMS/View环境中得到虚拟样机模型,通过ADAMS自身的仿真分析功能得到了自动机的动力学特性曲线。为枪械设计提供了依据,并大大降低了枪械试验的费用和时间。     

基于ADAMS和MATLAB联合的汽车ACC系统仿真

利用ADAMS/Car建立整车多体动力学模型,在MATLAB/Simulink环境中建立自适应巡航控制(ACC)系统模型,并将ACC系统控制程序导入到ADAMS软件中,以实现带有控制的车辆机电一体化联合仿真。各种工况下对ACC系统控制过程中车辆动态特性的仿真结果表明:所建立的整车系统模型和联合仿真分析方法是正确的。     

风力机系统的动力学性能分析

采用叶素动量理论对风力机进行气动力的计算分析,用VC开发计算程序,将计算的气动载荷加载到风力机ADAMS仿真模型上,在MATLAB/Simulink下建立风力机传动系统的仿真模型;将传动系统模型同ADAMS模型进行联合,实现对风力机系统总体性能的联合仿真.将仿真数据同国际风力发电专用计算软件计算数据比较,表明该联合仿真方法可以较好地模拟风力机的总体性能.     

Dynamic characteristics of piezoelectric six-dimensional heavy force/moment sensor for large-load robotic manipulator

This paper presents research on dynamic characteristics of a piezoelectric six-dimensional heavy force/moment sensor for a large-load robotic manipulator. The theory on dynamic characteristics of the sensor structure is analyzed, and a mathematical model of the sensor dynamics, decoupled into separate vibration modes, is provided. This model is complemented by dynamic mode analysis of the sensor by finite-element modeling (FEM; ANSYS software). A dynamic calibration experiment is designed, and methods and principles for measurements and data analysis are provided. The characteristic dynamic vibration modes of the piezoelectric force/moment sensor are extracted by analyzing experimental data, yielding amplitude frequency and phase frequency curves of the transfer function linking the excitation loads with the output signals of the transducer. The results of the dynamic calibration experiment demonstrate the good dynamic characteristics of the piezoelectric six-dimensional heavy force/moment sensor. The natural frequencies in the three force directions are high, with values close 2000 Hz. This demonstrates the applicability of the presented six-dimensional heavy force/moment sensor to large industrial robotic manipulators.     

Ambient vibration test of building base slab for different ground conditions

It is very important to know the dynamic behavior of base slabs of buildings in earthquake prone areas. The slabs are generally assumed as a rigid diaphragm in structural analysis and design. But their response is considerably affected from ground condition. In this study, the dynamic characteristics of a scaled base slab are determined for different ground conditions. The dimensions of the base slab model are 150 cm long, 100 cm wide and 5 cm thick. This model is designed to be smaller than 20 times from an actual building base. The base slab model is tested for the ground conditions of sand, gravel and clay–silt mixture by ambient vibration test. The dynamic characteristics, such as natural frequencies, modal damping ratios, mode shapes, are identified from collected signals by Operational Modal Analysis method. The first five modes are taken into consideration to compare the effect of ground conditions on the dynamic characteristics. It is observed that the natural frequencies, mode shapes and modal damping ratios are considerably affected from ground conditions. The highest natural frequency is obtained for the gravel ground case. The lowest natural frequency is identified for the clay–silt mixture ground case. The mode shapes changed randomly in each case. But the main modal behaviors are vertical mode and bending modes.     

提高多级齿轮传动系统动态性能的优化设计

提出了提高多级斜齿圆柱齿轮传动系统动态性能优化设计方法。重点论述了系统动力学模型的建立,运动微分方程的求解方法和优化数学模型。由于系统动力学模型考虑了多对齿轮的转动惯量、时变啮合刚度、误差、阻尼以及轴的转动惯量和刚度,因此,所建立的微分方程式是多自由度时变方程组,对此,本文采用模态分析法与状态空间法相结合的方法进行求解。在此基础上,建立了提高齿轮传动系统动态性能优化设计的数学模型。实例计算证明,动态性能优化设计后的齿轮传动系统,其动态性能有明显的改善。     

Modeling and testing of a field-controllable magnetorheological fluid damper

In this study, an experimental and a theoretical study were carried out to predict the dynamic performance of a linear magnetorheological (MR) fluid damper. After having designed and fabricated the MR damper, its dynamic testing was performed on a mechanical type shock machine under sinusoidal excitation. A theoretical flow analysis was done based on the Bingham plastic constitutive model to predict the behavior of the prototyped MR damper. The theoretical results were then validated by comparing them against experimental data, and it was shown that the flow model can accurately capture the dynamic force range of the MR damper. In addition to the flow model, a modified parametric algebraic model was proposed to capture the hysteretic behavior of the MR damper. The superiority of the proposed modified model was shown by comparing it with the Alg model as well as with a widely adopted modified Bouc-Wen model through an error analysis. It is observed that although all the three models are comparable at the excitation velocities of 0.05, 0.10, and 0.15 m/s, the mAlg model is remarkably successful at the highest excitation velocity of 0.2 m/s over the other two. The improvements in the predictions were found to be over 50%, relative to unmodified model especially at lower current inputs. Therefore, it was concluded that the present flow model can be successfully adopted to design and predict the dynamic behavior of MR dampers, while the mAlg model can be used to develop more effective control algorithms for such devices.     

A flexible multi-body dynamic model for analyzing the hysteretic characteristics and the dynamic stress of a taper leaf spring

This paper proposes a modeling technique which is able to not only reliably and easily represent the hysteretic characteristics but also analyze the dynamic stress of a taper leaf spring. The flexible multi-body dynamic model of the taper leaf spring is developed by interfacing the finite element model and computation model of the taper leaf spring. Rigid dummy parts are attached at the places where a finite element leaf model is in contact with an adjacent one in order to apply contact model. Friction is defined in the contact model to represent the hysteretic phenomenon of the taper leaf spring. The test of the taper leaf spring is conducted for the validation of the reliability of the flexible multi-body dynamic model of the taper leaf spring developed in this paper. The test is started at an unloaded state with the excitation amplitude of 1–2 mm/sec and frequency of 132 mm. First, the simulation is conducted with the same condition as the test. Then, the simulations are conducted with various amplitudes in a loaded state. The hysteretic diagram from the test is compared with the ones from the simulation for the validation of the reliability of the model. The dynamic stress analysis of the taper leaf spring is also conducted with the developed flexible multi-body dynamic model under a dynamic loading condition.     

基于键合图的五轴联动数控机床动态特性分析与能耗建模研究

制造业是我国碳排放的主要源头，高能效绿色机床装备是制造业实现“碳达峰、碳中和”目标的关键，机床的动态特性分析与能耗建模是机床绿色设计的重要环节。以五轴联动数控机床的各子轴系统为研究对象，针对其能量交互不明晰、自由度高、结构复杂的特点，基于键合图理论建立动力学特性数学模型和能耗模型。该模型综合考虑了机床各子轴系统动态特性和对能源消耗具有强关联性的关键变量，并利用Matlab-Simulink仿真工具建立了动态仿真模型。仿真分析和实验验证结果表明，所提出的基于键合图理论的动力学特性数学模型和能耗模型是合理且有效的。该模型对于深入分析各子轴系统的动态特性，了解其能量传递过程，指导其高能效优化设计，具有现实的指导意义。     

Modal disturbance investigation of rod-shaped ultrasonic motor using bending vibrations

Modal disturbance of a rod-shaped ultrasonic motor using bending vibrations can cause problems such as low motor efficiency, instability, and poor control. In this paper, a dynamic analysis model of a stator is created on the basis of the finite element method (FEM) and Hamilton principle. The modal frequency sensitivities of the stator to the structure parameters are investigated by modal analysis. Accordingly, the structure parameters of the stator are modified to separate working modes from disturbance modes. A rod-shaped ultrasonic motor stator is fabricated, and the experimental results of its amplitude frequency response characteristics show that the purpose of modal separation is achieved. The frequency separation between working modes and disturbance modes is more than 2 kHz. The validity of the method is verified. __________ Translated from Piezoelectrics & Acoustooptics, 2008, 30(6) [译自: 压电与声光]     

静电场耦合微机电系统的动态模型

研究静电场耦合微机电系统（Ｍｉｃｒｏ ｅｌｅｃｔｒｏｍｅｃｈａｎｉｃａｌ ｓｙｓｔｅｍｓ,简记为 ＭＥＭＳ）的动态模型问题。首先,给出了耦合静电场的输入／输出两端点对模型,讨论了微机电系统的独立变量对的选择与分析方法。其次,叙述了所研制的典型微结构,包括ＳＥＭ照片、有限元分析的振动模态,以及简化模型。第三,分析了ＭＥＭＳ传感器系统的静电场与静电力表达式、动力学方程,以及开环和闭环传递函数。第四,给出了ＭＥＭＳ传感器系统的实测频率特性和等效模型参数,并且根据以上分析和试验结果,提出了几点有重要意义的结论。     

模具加工过程的面向对象分析及其动态车间作业计划建模

模具的生产属于单件订货型生产,其车间级的生产管理一直是模具企业管理的难点。车间作业计划是解决这一难点的有效措施之一。通过采用面向对象的方法,对模具企业生产过程中与车间作业计划有关的对象进行了详细地分析和描述,以此为基础,进一步分析一模具企业车间作业计划中的优化目标和约束,建立了相应的动态车间作业计划模型,为模具企业编制切实可行的车间作业计划奠定了基础。     

压电陶瓷执行器的动态模型辨识与控制

为了提高精密定位系统中压电陶瓷的控制精度,研究了压电执行器的动态模型及逆模型。根据Weierstrass第一逼近定理,提出了以多项式函数逼近Duhem模型中的分段连续函数f(·)和g(·),并应用递推最小二乘算法辨识Duhem模型的参数α 及f(·)和g(·)的多项式系数,建立了压电陶瓷执行器的非线性参数化动态模型。利用辨识结果建立压电陶瓷执行器的动态逆模型,避免对压电陶瓷执行器进行复杂的模型求逆;介绍了通过逆补偿和PID复合控制对压电陶瓷系统进行的控制。实验结果表明:仅通过逆补偿,可在0~200 μm使得控制绝对误差小于0.8 μm;在前馈逆补偿和PID环控制下,绝对误差可小于40 nm,结果验证了算法的有效性。该算法结构简单,适应性强,便于工程实现。