基于多软件平台的二维重载精密转台的控制特性仿真分析及优化

Simulation analysis and optimization of control characteristics of twodimensional heavy-duty servo transmission system based on multisoftware platform

摘要:

为提高二维重载精密转台动态特性，基于AMEsim、ADAMS以及Simulink多软件机电一体化联合仿真对系统控制特性进行仿真分析.本文使用AMESim建立电机模型，Adams建立二维重载系统的动力学模型，使用Simulink工具箱建立PID控制模型，最终建立三软件联合仿真模型对系统阶跃响应进行仿真分析；针对系统存在时变性、非线性和负载干扰等因素的问题，采用自适应模糊PID控制算法对系统进行控制优化.仿真结果表明，模糊PID控制算法有着响应快、无超调，稳定误差较普通PID控制减小37%左右等优点.

Abstract:

To improve the dynamic characteristics of two-dimensional heavy-duty precision turntable, the control characteristics of the system are simulated and analyzed based on multi-software mechatronics joint simulation with AMEsim, ADAMS and Simulink. In this paper, the joint simulation model includes the motor model, the dynamic model of two-dimensional heavy-duty precision turntable and the PID control model which are established by AMESim, Adams and Simulink tools respectively, this joint simulation model is then used to simulate and analyze the step response of the system. Aiming at the problems of time-varying nonlinear load interference and other factors in the system, adaptive fuzzy PID control algorithm is used to optimize the control of the system. The simulation results show that the fuzzy PID control algorithm has the advantages of fast response and no overshoot, and the stability error is reduced by about 37% compared with the common PID control.