基于ADAMS和Matlab/Simulink的控制系统动态仿真研究

IF 0.3 4区工程技术 Q4 ENGINEERING, MULTIDISCIPLINARY

Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria Pub Date : 2022-01-01 DOI:10.23967/j.rimni.2022.04.001

C. Chavez-Olivares, E. Rubio, C. Guzman

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引用次数: 1

摘要

ADAMS-MATLAB联合仿真在复杂系统开发中广泛应用于闭环机构的控制模型。ADAMS的一个优点是便于配置摩擦等参数。然而，其数学摩擦模型是未知的。还有一些替代方案，如Simscape Multibody，可以简化任何摩擦模型的配置。本文给出了一个用机构数学模型进行动态仿真的实例，以便与ADAMS和Simscape Multibody进行比较。状态空间模型使用参数b和fc -粘性和库仑摩擦系数。然而，ADAMS只使用了一个动态摩擦参数µ。由于ADAMS中没有出现两个摩擦参数，因此使用参数识别程序来确定摩擦系数b和fc与µ之间的等效性。为了识别ADAMS的摩擦模型，提出了开环和闭环仿真方法。为了对模拟结果进行数值比较，采用L2范数。参考是用ODE45函数求解的模型。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Study of dynamic simulators with ADAMS and Matlab/Simulink for control systems

ADAMS-MATLAB co-simulation is widely used in complex system development to control models of closed-loop mechanisms. An advantage of ADAMS is to facilitate the configuration of parameters such as friction. However, its mathematical friction model is unknown. There are alternatives such as Simscape Multibody that facilitate the configuration of any friction model. This paper presents a case study of dynamic simulation using the mathematical model of a mechanism in order to compare it with ADAMS and Simscape Multibody. The state-space model uses the parameters b and fc – viscous and Coulomb friction coefficients. However, ADAMS uses only one dynamic friction parameter µ. Since both friction parameters do not appear in ADAMS, a parametric identification procedure was used to determine the equivalency between the friction coefficients b and fc compared to µ. To identify the friction model of ADAMS, open-loop and closed-loop simulations were proposed. To compare the simulation results numerically, the L2 norm was used. The reference was the model solved with the ODE45 function.

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来源期刊

Revista Internacional de Metodos Numericos para Calculo y Diseno en Ingenieria 工程技术-工程：综合

CiteScore

0.70

自引率

0.00%

发文量

审稿时长

6 months

期刊介绍： International Journal of Numerical Methods for Calculation and Design in Engineering (RIMNI) contributes to the spread of theoretical advances and practical applications of numerical methods in engineering and other applied sciences. RIMNI publishes articles written in Spanish, Portuguese and English. The scope of the journal includes mathematical and numerical models of engineering problems, development and application of numerical methods, advances in software, computer design innovations, educational aspects of numerical methods, etc. RIMNI is an essential source of information for scientifics and engineers in numerical methods theory and applications. RIMNI contributes to the interdisciplinar exchange and thus shortens the distance between theoretical developments and practical applications.