Mechatronic Joint Modeling and Simulation for Intermittent Chain Transmission System based on RecurDyn

Guo Bin; Tang Jun; Huang Wuxin; Liu Xiliang

doi:10.16578/j.issn.1004.2539.2015.11.026

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Mechatronic Joint Modeling and Simulation for Intermittent Chain Transmission System based on RecurDyn

更新时间：2022-10-20

- Mechatronic Joint Modeling and Simulation for Intermittent Chain Transmission System based on RecurDyn
- Vol. 39, Issue 11, Pages: 110-114(2015)
- 作者机构：
  
  1. 江西理工大学机电工程学院
  2. 铁道第三勘察设计院集团有限公司
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.11.026
  CLC：
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[1]郭彬,唐军,黄武新,刘锡良.基于RecurDyn的步进链传动系统的机电联合建模与仿真[J].机械传动,2015,39(11):110-114.

Guo Bin, Tang Jun, Huang Wuxin, et al. Mechatronic Joint Modeling and Simulation for Intermittent Chain Transmission System based on RecurDyn. [J]. 39(11):110-114(2015)
[1]郭彬,唐军,黄武新,刘锡良.基于RecurDyn的步进链传动系统的机电联合建模与仿真[J].机械传动,2015,39(11):110-114. DOI： 10.16578/j.issn.1004.2539.2015.11.026.

Guo Bin, Tang Jun, Huang Wuxin, et al. Mechatronic Joint Modeling and Simulation for Intermittent Chain Transmission System based on RecurDyn. [J]. 39(11):110-114(2015) DOI： 10.16578/j.issn.1004.2539.2015.11.026.

摘要

为了确定步进链传动的电机驱动规律,深入研究了Recur Dyn基于相对坐标的递推建模方法。结合永磁同步电机模型,使用Recur Dyn和Matlab/Simulink分别建立了步进链传动系统的动力学模型和电机模型,并验证了模型的正确性。通过Recur Dyn/control模块将二者相结合,在3种步进加速曲线下进行了机电联合仿真。仿真结果表明,相对于修正等速运动规律（MCV）,修正正弦（MS）、修正梯形（MT）运动规律用于步进链驱动效果较好,而且MT运动规律下电机输出转矩的储备裕量更大、对电机过载能力的要求更低。

Abstract

In order to determine the motor drive motion of intermittent chain transmission,the recursive modeling approach based on relative coordinates in Recur Dyn is studied.Combining with permanent magnet synchronous motor model,the dynamics model of intermittent chain transmission system and motor model are established in Recur Dyn and Matlab / Simulink separately,and the correctness of the two models are verified.Using Recur Dyn / control module to combine with both,mechatronic simulation is carried out under three kinematic law of intermittent motion.The simulation results show that,compared to modification constant velocity（ MCV） kinematic law,modification sine（ MS） and modification trapezoid（ MT） kinematic law for intermittent drive is better,and MT kinematic law can give motor higher torque store margin and lower overload requirements.

关键词

链传动步进运动RecurDyn机电联合建模

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