采用Udwadia-Kalaba理论的微振动隔振平台研究

发布时间：2018-02-16 14:38

本文关键词： Udwadia-Kalaba方程系统约束微振动隔振平台　出处：《西安交通大学学报》2017年01期 　论文类型：期刊论文

【摘要】：针对微制造平台的隔振问题,建立基于Udwadia-Kalaba方程的动力学模型,其可以在不引入拉格朗日乘数等额外参数的情况下进行求解。将微振动平台的振动位移作为系统约束,建立微振动隔振平台的离散化模型,并在主动隔振与被动隔振的混合机制下进行微振动平台隔振系统的多体动力学分析与仿真;用Udwadia-Kalaba方程建立了驱动条件的求解方法以满足系统约束,基于约束条件建立微振动隔振平台的动力学模型,且通过Matlab语言进行仿真计算。研究结果表明:根据仿真得到了8个自由度方向的约束力矩,由此可以求得致动器所要求的竖直方向力的大小;在4个质点所受噪声干扰相同的条件下,微振动离散化模型4个致动器所需的约束力保持一致,而且可以达到良好的减振作用。
[Abstract]:A dynamic model based on Udwadia-Kalaba equation is established to solve the vibration isolation problem of micro-manufacturing platform, which can be solved without the additional parameters such as Lagrange multiplier. The vibration displacement of the micro-vibration platform is taken as the system constraint. The discrete model of the micro vibration isolation platform is established, and the multi-body dynamics analysis and simulation of the vibration isolation system of the micro vibration platform are carried out under the mixed mechanism of active vibration isolation and passive vibration isolation. Based on the Udwadia-Kalaba equation, the driving conditions are solved to satisfy the system constraints, and the dynamic model of the vibration isolation platform is established based on the constraint conditions. The results show that the constraint torque in the direction of 8 degrees of freedom is obtained by simulation, and the magnitude of the vertical force required by the actuator can be obtained. Under the same noise disturbance of the four particles, the binding force required by the four actuators in the discretization model of microvibration is consistent, and a good damping effect can be achieved.
【作者单位】：合肥工业大学机械与汽车工程学院;
【基金】：国家“973”计划资助项目(206-413101)
【分类号】：TB535.1

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