| 崔希铭， 呼延鹏飞， 李鹏超， 黄雨霖.多点接触粘滑驱动微动平台复合运动模型构建[J].轻工机械,2023,41(6):17-25 |
| 多点接触粘滑驱动微动平台复合运动模型构建 |
| Construction of Multi Point Contact Stick Slip Driven Micro Motion Platform Composite Motion Model |
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| DOI：10.3969/j.issn.1005 2895.2023.06.003 |
| 中文关键词: 微动平台 多点接触 粘滑驱动 复合动态模型 移动永磁铁 |
| 英文关键词:micro motion platform multi point contact stick slip driven composite motion model MPM (Mobile Permanent Magnet) |
| 基金项目: |
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| 摘要点击次数: 89 |
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| 中文摘要: |
| 为了精确模拟基于多点接触粘滑驱动原理的微动平台动态微位移输出，验证粘滑驱动原理在微动平台应用的可行性，课题组基于4稳态电磁执行器的粘滑驱动微动平台，建立了一种复合动态模型。该动态模型包含4个子动态模型,即磁力计算模型、LuGre摩擦模型、碰撞反弹模型和质心偏移模型；课题组在此基础上搭建了实验平台，研究了不同驱动电流对微动平台动态输出位移影响。结果表明：复合动态模型模拟动态位移输出与实验输出趋势基本一致，验证了所提出和建立的复合动态模型的有效性。 |
| 英文摘要: |
| In order to accurately simulate the dynamic output of a micro motion platform based on the multi point contact stick slip driving principle and verify the feasibility of the application based on stick slip driving principle on micro motion platforms，a composite dynamic model was established for a micro motion platform with stick slip drive based on a four stable state electromagnetic actuator, which contained four sub models of the dynamic model: the magnetic force calculation model, the LuGre friction model, the collision bounce model and the mass center shift model. On this basis, an experimental platform was built to research the effect of different drive currents on the dynamic output displacement of the micro motion platform. The result shows that the simulated dynamic output of the composite dynamic model is basically consistent with the experimental output trend, and verifies the effectiveness of the proposed and established composite dynamic model. |
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