Analyzing Dynamics of a Novel Parallel Tracking Solar Device
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摘要: 针对并联装置的结构复杂性、动力学模型的高度耦合性和非线性问题，以一种并联太阳跟踪装置为研究对象，对其机构运动特点和逆运动学进行了分析，基于U-K理论提出一种应用于并联机构的拉格朗日法和U-K理论相结合的动力学建模方法。首先，运用拉格朗日法求解了并联机构各支链的动力学模型；其次，考虑并联机构支链对动平台的约束关系，利用层级堆聚思想，在不引入拉格朗日乘子的情况下建立了跟踪装置的基于约束的动力学模型；最后，利用MATLAB和ADAMS联合仿真对所建立的动力学模型进行了求解和验证。结果表明理论计算与仿真分析的一致性。
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关键词:
- 并联跟踪装置 /
- 动力学 /
- Udwadia-Kalaba方程 /
- 拉格朗日法
Abstract: To couple the highly complex and dynamic model of the structure of a parallel device and the nonlinear problem in a parallel solar tracking device, this paper analyzed its kinematic characteristics and inverse kinematics, proposed a dynamic modeling theory based on the U-K theory and applied the Lagrangian method to the parallel mechanism. Firstly, the Lagrangian method is used to solve the dynamic model of each branch of the parallel mechanism. Secondly, considering the constraint relationship of the parallel mechanism branch to the moving platform, this paper hierarchical accumulation idea instead of introducing the Lagrangian multiplier. Then the constraint-based dynamics model of the parallel solar tracking device was established. Finally, the established dynamic model is solved and verified with the MATLAB and ADAMS co-simulation. The simulation results show the consistency between theoretical calculation and simulation analysis.-
Key words:
- parallel solar tracking device /
- dynamics /
- Udwadia-Kalaba equation /
- Lagrangian method
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表 1 并联跟踪装置结构参数
仿真参数 数值 两平台机构参数R1、R2、r1、r2/m 0.25 机构参数R3、r3/m 0.5 滑块质量mhi(i=1, 2, 3)/kg 1.022 长连杆质量mci(i=1, 2, 3)/kg 1.349 短连杆质量mdi(i=1, 2, 3)/kg 0.348 动平台(有负载)质量mp/kg 33.216 短连杆长度a/m 0.23 
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