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为了研究运动模拟器,采用牛顿和罗伯逊-维滕伯格方法建立了多自由度电液混合运动模拟器动力学方程,建模中把运动模拟器结构中的闭链结构看做自由铰约束,使建模过程得以简化,解决了罗伯逊-维滕伯格方法对移动铰、特别是球铰不易应用的难题.该动力学方程与拉格朗日方法相比,具有计算简便、省时的特点,便于运动模拟器的实际动力控制.动力仿真结果与模拟器实际运动相符合,证明动力学方程建模的正确性.
In order to study the motion simulator, the dynamic equations of the multi-degree-of-freedom electro-hydraulic hybrid simulator are established by Newton-Robertson-Wittenberg method. The closed-chain structure in the simulator is regarded as a free- The model process is simplified and the Robertson-Wittenberg method is not easy to be applied to moving hinges, especially the ball joints. Compared with the Lagrange method, the dynamic equation has the characteristics of simple calculation and time saving, and is convenient for motion simulation The actual power control of the device.The dynamic simulation results are consistent with the actual movement of the simulator to prove the correctness of the modeling of kinetic equations.