Mechanical-electrical co-simulation of vehicle-mounted two-degree-of-freedom pan-tilt

Under complex working conditions, the reconnaissance robot with two degrees of freedom head has difficulty in target tracking due to its complex control system. According to the particularity of vehicle-mounted two-degree-of-freedom head, the tracked robot with tracking and reconnaissance is taken as the research object. Because the ground is uneven when the reconnaissance robot moves, the pitch Angle and azimuth Angle of the two-degree-of-freedom head will produce vibration, which will affect the tracking and aiming. Therefore, the Lagrange function method is used to establish the dynamic equation of the head, and then the dynamic model is established. Finally, the mechatronics co-simulation of the weapon platform is carried out by using matlab/Simulink module and Recurdyn dynamics software. The simulation results show that the control error of the PTZ is small and the precision is high, which verifies the feasibility of the control strategy and mechanical structure, and meets the design standard.