%0 Journal Article
%T 三轴离心机运动学模型及变加速度模拟算法<br>Kinematics Model and Acceleration Simulation Algorithm for a Three？？Axis Centrifuge
%A 杨媚
%A 张亚红
%A 张帅３
%A 董光旭
%A 张希农
%J 西安交通大学学报
%D 2017
%R 10.7652/xjtuxb201709023
%X 针对开展加速度过载模拟试验中确定离心机运动参数存在困难的问题,通过构造对称过载,采用逆向求解运动参数的方法进行处理,然后确定系统输入。结合运动合成法和矩阵旋转法建立了离心机的运动学数学模型,该模型是求解运动参数的基础。基于运动学模型推导得到模拟预期加速度过载的相关运动参数计算公式,由递推法得到各级转子转角、角速度以及角加速度参数时间变化历程。以两种典型过载作为预期过载,采用运动学逆问题求解运动参数,并将求解结果作为系统输入,采用RecurDyn仿真离心机产生的加速度过载。与预期过载对比进行验证,结果表明,求逆算法能精确地模拟预期加速度过载,算例中最大绝对误差控制在0.1g以内。此项工作可为三轴离心试验中试验载荷的设计提供理论依据和设计方法。<br>Dynamic acceleration simulation on three？？axis centrifuge is important to test some precision instruments’ performance under high G？？load conditions. In order to select proper kinematic parameters to carry out dynamic acceleration simulations, a desired G？？load curve is symmetrically constructed so that the kinematic parameters could be calculated inversely. First, the centrifuge system’s kinematics model is established through the motion synthesis method and matrix rotation method. Then, kinematic parameters’ calculation formulas are derived based on the kinematics modeling. The rotation angle, angle velocity and angle acceleration of each revolute joint are obtained by recursive method. To verify the algorithm, the G？？load generated by RecurDyn, which uses the algorithm’s results as input, is contrasted with the desired G？？load. The result shows that the algorithm is viable and the maximum absolute error is less than 0？？1g
%K 三轴离心机
%K 运动学模型
%K 三维变加速模拟
%K 运动参数求逆&lt
%K br&gt
%K three？？axis centrifuge
%K kinematics model
%K 3D acceleration simulation
%K inversion of motion parameters
%U http://zkxb.xjtu.edu.cn/oa/DArticle.aspx?type=view&id=201709023