Research On Modeling And Simulation Of Double Cylinder Parallel Platform Based On Power Bond Graph

Modeling and simulation of complex systems usually involve multi-domain intersecting modeling and simulation work.With the progress of science and technology,the analysis and control of mechanical engineering is increasing in importance.The analysis methods of traditional mechanical system are mostly limited to the system of a single energy form,which is limited to the coupling system of multiple fields.The power bond graph theory can just solve the problems and the theory is an important tool to achieve the dynamic analysis modeling and simulation of complex systems in multiple fields.The peaches of traditional scalar bond graph theory has been ripe,but there are still many problems.Many scholars have proposed some solutions.Among these solutions,the vector bond graph method has the advantages of compact form and simple structure,and has become one of the most widely used methods in mechanical system dynamics.However,there is still a lot of research space on how to use computer automatically to build and simulate based on vector bond graph.In this paper,the modeling and simulation of multi-domain complex system based on vector bond graph are studied.Firstly,the development history and research status of the power bond graph are summarized.The shortcomings of the traditional method are listed.The research significance and content of modeling and simulation of multi-body system based on power bond graph are discussed.Then the basic theory of power bond graph modeling is introduced.Vector bond graph and 20-sim professional software are briefly introduced.Secondly,three universal basic models of vector bond graph based on Newton-Euler method,Bp method and robot kinematics is introduced for multi-body dynamic system.The basic model has clear meaning and is suitable for modularization,so it is suitable for computer automatic modeling and simulation.The application of the basic model,the setting of initial position,the application of initial conditions and the output of the acting reaction force at the moving joint are explained,through three typical examples of pendulum,slider crank and space double pendulum.Finally,the driving part and the multi-body structure part of a double-cylinder parallel platform are modeled respectively,and the platform is controlled by the inverse kinematics algorithm.The simulation results of the platform system are outputted by 20-sim software,and the unified modeling and simulation of the double-cylinder parallel platform with the multidomain system were established.The influence of the capacitive element parameter setting on the flexibility of the moving joint was discussed.Through Amesim software,the platform with the same structure coefficient is compared and simulated to verify the validity of the method of building the model of the double-cylinder parallel platform based on the basic model in this paper.This topic belongs to the basic research of multi-domain unified modeling and simulation.The research content has theoretical value,which provides a theoretical reference for multidomain complex system dynamics modeling and simulation analysis and the development of simulation tools.