AdamsMatlab联合仿真完美算例.pdf

AdamsMatlab联合仿真完美算例.pdf

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1GettingStartedUsingAdams/ControlsIntroducingandStartingtheTutorialsLearningAdams/ControlswithMATLABCo-Simulation/FunctionEvaluationLearningAdams/ControlswithControlSystemImportfromMATLABLearningAdams/ControlswithControlSystemImportfromMATLABwithS-FunctionsLearningAdams/ControlswithEasy5Co-Simulation/FunctionEvaluationLearningAdams/ControlswithControlSystemImportfromEasy5GettingStartedUsingAdams/Controls2IntroducingandStartingtheTutorials3IntroducingandStartingtheTutorialsOverviewOverviewThischapterstartsyouoffontheprocessofaddingcontrolstoyourAdamsmodel.FollowingthischapteraretutorialsforsomeofthecontrolsapplicationsyoucanusewithAdams/Controls:

co-simulationandControlSystemImportwithEasy5orMATLAB.Afteryoufinishthischapter,continuewiththetutorialthatisspecifictothecontrolsapplicationyouareusing.Thischaptercontainsthefollowingsections:

AbouttheTutorialHowYoullLearnAdams/ControlsStartingAdams/ViewStepOne-BuildtheAdamsModelStepTwo-CreatingtheAdamsPlantInputsandOutputsBeforedoingthesetutorials,youshouldbefamiliarwiththebasicfeaturesoftheAdams/Viewinterface.RefertotheonlinehelpforAdams/ViewforinformationabouttheAdams/Viewinterface.Thistutorialtakesabouttwohourstocomplete.GettingStartedUsingAdams/ControlsAbouttheTutorial4AbouttheTutorialThetutorialsinthisguidegiveyouanoverviewofthefour-stepprocessofaddingcontrolstoanAdamsmodel.SeeWelcometoAdams/ControlsAbouttheAdams/ControlsFour-StepProcessinAdams/Controlsonlinehelp,foradescriptionofthefour-stepprocess.ThischaptercoversStepsOneandTwooftheprocessindepth.Youlllearnhowto:

ImportanAdamsmodelandrunatrialsimulationwithAdams/View.UsetheAdams/ControlsinterfacetoidentifytheinputsandoutputsfromyourAdamsmodel,andcreatethefilesfortheplantmodelinEasy5andMATLAB/Simulink.StepsThreeandFourarecoveredinthechaptersthatfollowforeachcontrolsapplication.5IntroducingandStartingtheTutorialsHowYoullLearnAdams/ControlsHowYoullLearnAdams/ControlsByfollowingthetutorialsinthisguide,youllapplythefour-stepprocessofusingAdams/Controlsonasimpleantenna-pointingproblem.Theobjectiveoftheproblemistoaddacontrolsystemtotheantennathatwillmovetheantennaalongadefinedpathtotrackasatellitesignal.Forthistutorial,youwillsupplythetorquethatpivotstheantennaintheazimuthal（horizontal）direction.Thetorquelevelwillbecomputedbyacontrolsystem,basedontheerrorbetweentheactualantennapositionandthedesiredantennaposition.ThisismorerealisticthanattachinganAdamsmotiontothepivotanddrivingthemotiondirectly.Byapplyingatorque,youcanlookatissuesrelatedtomotorsizeinanactualmechanicalsystem.GettingStartedUsingAdams/ControlsStartingAdams/View6StartingAdams/ViewInthissection,youlearnhowtocreateanewdirectoryandstartAdams/ControlsfromwithinAdams/ViewintheUNIXandWindowsenvironments.IntheUNIXenvironment,youstartAdams/ViewfromtheAdamsToolbar,andthen,fromwithinAdams/View,youloadtheAdams/Controlsplugin.ForinformationontheAdamsToolbar,seetheonlinehelpforRunningandConfiguringAdams.IntheWindowsenvironment,youstartAdams/ViewfromtheStartmenu,andthenloadtheAdams/Controlsplugin.Formoreinformation,seetheonlinehelpforRunningandConfiguringAdams.TostartAdams/View:

1.Copyallofthefilesininstall_dir/controls/examples/antennatoanewdirectory.2.DoeitherofthefollowingdependingontheplatformonwhichyouarerunningAdams/View:

InUNIX,typethecommandtostarttheAdamsToolbaratthecommandprompt,andthenpressEnter.SelecttheAdams/Viewtool.InWindows,fromtheStartmenu,pointtoPrograms,pointtoMSC.Software,pointtoAdams2012,pointtoAView,andthenselectAdams-View.TheWelcome（ClassicInterface）dialogboxappears,intheAdams/Viewmainwindow.7IntroducingandStartingtheTutorialsStepOne-BuildtheAdamsModelStepOne-BuildtheAdamsModelNowyoullimportanAdamsmodelandfamiliarizeyourselfwithitsconstructionbyfollowingthenextfoursections:

BuildtheAdamsModelLoadingAdams/ControlsFamiliarizingYourselfwiththeModelRunningaTrialSimulationBuildtheAdamsModel1.SelectImportaFile.2.IntheStartIntextboxontheAdams/Viewwelcomescreen,enterthenameofyournewdirectory（theonecreatedinStep1.inTostartAdams/View:

above）.Thissetsyournewdirectoryasyourworkingdirectory.3.SelectOKtoclosetheAdams/Viewwelcomescreen.4.IntheFileImportdialogbox,right-clicktheFiletoReadtextbox,andthenselectBrowse.TheFileSelectiondialogboxappears.5.Selectthefileantenna.cmd.6.SelectOK.Theantennamodelmain_oltappearsasshowninFigure1.7.Tochangethedisplayoftheantennafromawireframeintoashaded,three-dimensional