Simulation control method for motion characteristics of multi-degree-of-freedom motor

Abstract

The invention provides a simulation control method for the motion characteristics of a multi-degree-of-freedom motor and relates to the technical field of motor control. The method comprises a step ofconstructing and drawing a virtual prototype model by using three-dimensional mechanical design software, a step of giving a motion constraint relationship between poses of components and physical characteristics and performing kinematics and dynamics analysis calculation, a step of realizing tilting operation, rotating running and space three-degree-of-freedom motion of the multi-degree-of-freedom motor and realizing interactive time domain simulation in virtual prototyping technology, and a step of realizing the sliding mode control of the motor under the cooperation of inner and outer rotors based on the motion of the multi-degree-of-freedom motor and the construction of a system joint platform. According to the invention, the point-to-point precise positioning of the three-degree-of-freedom motion can be achieved, the unfavorable factors such as input impact, external disturbance and parameter perturbation of a control system can be overcome, and the method has the advantages of high control precision, short development time, good design quality and high efficiency.

Description

technical field [0001] The invention relates to the technical field of motor control, in particular to a multi-degree-of-freedom motor motion characteristic simulation simulation control method, and relates to trajectory planning and control process design for motors performing multi-degree-of-freedom motion. Background technique [0002] In a complex and cumbersome multi-body mechanical system, it is often accompanied by nonlinear, strong coupling control methods and multi-style, multi-degree-of-freedom motion conditions. The transmission device composed of a single and multiple traditional motors cooperates with each other, and the system volume The weight is too large, and the mutual clearance of multiple bearings is likely to affect the rotation accuracy of the transmission device; secondly, for the multi-free movement with complex planning, there are also defects of slow response speed and poor transmission flexibility. For this reason, domestic and foreign scholars hav...

AI Technical Summary

Problems solved by technology

[0006] The present invention mainly solves the problems existing in the prior art that the running track of the multi-degree-of-freedom motion is complicated, it is difficult to accurately locate, the control system is difficult to control, the research and development time is too long, and the design efficiency is low, and it provides a multi-degree-of-freedom motor motion characteristic The simulation control method can realize the precise positioning of the three-degree-of-freedom movement point to point, and can overcome the input impact of the control system, external disturbance, parameter perturbation and other unfavorable factors. It has high control precision, short development time, good design quality, Features of high efficiency

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