此文件包含使用Simscape构建的反铲臂模型。液压驱动系统（包括泵、阀和液压缸）驱动机械臂和铲斗。建立了包括臂关节和铲斗连杆机构在内的三维机械系统模型。本文中的示例展示了如何对自定义液压阀进行建模，调整控制器和物理系统参数，并从整个模型生成C代码。
This file contains a model of a backhoe arm built using Simscape. The hydraulic actuation system, including pump, valves, and hydraulic cylinders, actuates the arm and bucket. The three-dimensional mechanical system is modeled, including the arm joints and bucket linkage. Examples in this submission show how to model custom hydraulic valves, tune controller and physical system parameters, and generate C code from the entire model.
Please read the README.md file to get started.
Use the “Download from GitHub” button above to get files compatible with the latest release of MATLAB.
Use the links below to get files compatible with earlier releases of MATLAB.
For R2020a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/20.1.2.8.zip
For R2019b: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/19.2.2.7.zip
For R2019a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/19.1.2.6.zip
For R2018b: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/18.2.2.4.zip
For R2018a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/18.1.2.3.zip
For R2017b: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/17.2.2.2.zip
For R2017a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/17.1.2.1.zip
For R2016a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/16.1.2.0.zip
For R2014a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/14.1.1.7.zip
For R2013a: https://github.com/mathworks/Simscape-Backhoe-Arm/archive/13.1.1.5.zip
Versions of this example compatible with earlier MATLAB releases are available on GitHub.
See an overview of this model in this video (5 min):
https://www.mathworks.com/videos/applications-and-tasks-in-simhydraulics-74107.html
To see an overview of this multibody modeling in Simscape Multibody, watch this video (1.5 min): https://www.mathworks.com/videos/simmechanics-introduction-69809.html
Learn about multibody simulation with Simscape Multibody:
https://www.mathworks.com/videos/multibody-simulation-with-simmechanics-81877.html
Learn about hydraulic simulation with Simscape Fluids:
https://www.mathworks.com/videos/hydraulic-simulation-with-simhydraulics-81959.html
Find other Simscape examples by searching posts for the keyword “physical modeling”
https://www.mathworks.com/matlabcentral/fileexchange/?term=%22physical+modeling%22
Learn more about MathWorks Simscape Products:
https://www.mathworks.com/physical-modeling/
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