Probe Into Inverse Dynamics And Output Force Control System Of Spindle Coupled Road Simulator

6-DOF spindle coupled road simulator is the advanced equipment which isused to test vehicle reliability in laboratory, while our country currently has noability to independently develop such products. Based on the research project"spindle coupled road simulation test bench" by Harbin Institute of Technology,this paper established the inverse kinematics model and the inverse dynamicsmodel for the spindle coupled road simulator. Finally, the output force controlsystem for the test bench was studied preliminarily.The spindle coupled road simulator is a complicated series-parallel hybridmechanism. In this paper, taking use of the space vector constraint relations,constraint equations about the length of some relevant rod and each hydraulicactuator of the test bench were established. Under the premise that the structuralparameters and movement rule for the test rig were given, the paper gotkinematic quantities such as the sliding length of hydraulic actuators and therotation angle of each bell crank, completing the position variables analysis forinverse kinematics model. Taking the first and second derivative respect to theabove constraint equations, the paper got kinematic quantities such as the slidingspeed and the sliding acceleration of hydraulic actuators as well as the rotationangular velocity and the rotation angular acceleration of each bell crank,completing the velocity and acceleration variables analysis for inversekinematics.The establishment of the inverse dynamics model for the spindle coupledroad simulator is the core of this paper. On the basis of the established inversekinematics model, Newton-Euler method was adopted to establish inversedynamics equations for each related element of the spindle coupled roadsimulator，with ignoring the joint friction and omitting the quality of someelements of the test bench. By adopting reasonable solving sequence and usingvector dot-product, cross-product skills cleverly, this paper succeeded ineliminating large amounts of the unknown constraining forces and solving eachhydraulic actuator force, on condition that the movement rule and working resistance of the test rig was given.By Simulink simulation, this paper selected the related structural parametersfor the hydraulic power mechanism to complete the structure design, on the basisof the established inverse kinematics model and inverse dynamics model. Also,the paper established the transfer functions for the power mechanism. At last,this paper set up the complete output force control system for the spin dle coupledroad simulation test bench and studied its feasibility by joint simulation ofSimulink and ADAMS, completing the preliminary study for the control system.