Motion Control Modeling and Simulation of the Thruster Mechanism of a Boring Machine

Wang Shuanghua; Wang Jianwei

doi:10.16578/j.issn.1004.2539.2015.04.036

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Motion Control Modeling and Simulation of the Thruster Mechanism of a Boring Machine

更新时间：2022-10-20

- Motion Control Modeling and Simulation of the Thruster Mechanism of a Boring Machine
- Vol. 39, Issue 4, Pages: 56-60(2015)
- 作者机构：
  
  1. 华东交通大学机电工程学院
  2. 上海交通大学机械与动力工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.04.036
  CLC：
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[1]王双华,王建伟.一种掘进机推进机构运动控制建模与仿真[J].机械传动,2015,39(04):56-60.

Wang Shuanghua, Wang Jianwei. Motion Control Modeling and Simulation of the Thruster Mechanism of a Boring Machine. [J]. 39(4):56-60(2015)
[1]王双华,王建伟.一种掘进机推进机构运动控制建模与仿真[J].机械传动,2015,39(04):56-60. DOI： 10.16578/j.issn.1004.2539.2015.04.036.

Wang Shuanghua, Wang Jianwei. Motion Control Modeling and Simulation of the Thruster Mechanism of a Boring Machine. [J]. 39(4):56-60(2015) DOI： 10.16578/j.issn.1004.2539.2015.04.036.

摘要

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。

Abstract

The thruster mechanism of which two neighboring thruster cylinders are wedge-shape arranged is a redundant driving multi-DOF parallel mechanism.It is very complex to control its motion due to the complexity of the mechanism and the coupling between the driving rods,so a method of establishing inverse kinematics model of the thruster mechanism and graphical model with the SimMechanics in the environment of Simulink diagram design in MATLAB is presented and then connect them by controller.The trajectory tracking control of parallel mechanism is realized and this method is intuition and convenience.A foundation for the precious control of thruster mechanism is laid and it is provide convenience for establishing simulation models of other multi-body dynamic system.

关键词

掘进机推进机构轨迹跟踪控制Simulink

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