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相邻两组推进缸按楔形布置的掘进机推进机构为冗余驱动多自由度并联机构,机构的复杂性与各驱动杆间的耦合性使得对其运动控制相当复杂;因此提出在MATLAB中的Simulink框图设计环境下构建该推进机构的运动学逆解模型及SimMechanics图示化模型的方法,并将两者通过控制器连接,可实现机构的轨迹跟踪控制。该建模方法方便直观,为研究推进机构高精度控制奠定一定基础,也为建立其他多体动力机械系统仿真模型提供方便。
Adjacent two groups of advancing cylinders driven by wedge-shaped roadheader propulsion mechanism are redundantly driven multi-degree-of-freedom parallel mechanisms. The complexity of the mechanism and the coupling between the driving rods make the motion control very complicated. Therefore, Simulink block diagram design environment to build the kinematic inverse model of the propulsion mechanism and SimMechanics graphical model of the method and the two connected by the controller can achieve the mechanism of trajectory tracking control. The modeling method is convenient and intuitive, which lays a foundation for researching the high precision control of the propulsion mechanism and also facilitates the establishment of other multi-body dynamic mechanical system simulation models.