中文摘要：

对球式自动平衡装置虚拟实验进行了研究,建立了球式自动平衡装置虚拟实验平台.该平台采用基于Smiulmk和VRML的运动仿真和建模方法,通过建立控制转盘和滚球运动的Smiulmk模型,以及球式自动平衡装置的VR场景,来模拟真实的实验环境.然后在主界面上输入实验参数,以进行虚拟实验.通过可视化观察实验过程中滚球运动状态,以及生成的实验结果曲线,对滚球的平衡过程进行分析,分析结果与自同期理论相符.最后通过搭建真实实验台进行实验验证,实验结果进一步表明了该虚拟实验平台具有良好的有效性及可靠性.

英文摘要：

Virtual experiment of a ball-type automatic balancer was studied and a virtual experiment platform of the ball-type automatic balancer was built. The platform simulated a real experiment environment by establishing Simulink models of plates’ and balls’ movement,and VR scene of the ball-type automatic balancer, based on Simulink motion simulation and VRML （ virtual reality modeling language） modeling methods. Then parameters were input in the main interface to conduct virtual experiments. Through visual observation of balPs state in the experiment and experimental results, we could analyze equilibrium process of balls. The results of the analysis are consistent with the theory of self-synchronizing. Finally, the experiments on real test-bed indicate that the virtual experimental platform has good validity and reliability.