吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (5): 1461-1467.doi: 10.13229/j.cnki.jdxbgxb201505013

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超冗余多轴液压振动台的内力耦合控制

魏巍1, 2, 杨志东2, 曲志勇2, 韩俊伟2   

  1. 1.中国工程物理研究院机械制造工艺研究所,四川 绵阳 621900;
    2.哈尔滨工业大学 机电学院,哈尔滨 150001
  • 收稿日期:2013-11-21 出版日期:2015-09-01 发布日期:2015-09-01
  • 作者简介:魏巍(1987-）,男,博士研究生.研究方向:多轴振动台.E-mail:iamcoolweiwei@foxmail.com
  • 基金资助:
    国家自然科学基金项目(51205077); 中央高校基本科研业务费专项项目(HIT; NSRIF.2015051)

Internal force coupling control for hyper-redundant multi-axis hydraulic shaking table

WEI Wei1,2,YANG Zhi-dong2,QU Zhi-yong2,HAN Jun-wei2   

  1. 1.Institute of Machinery Manufacturing Technology,China Academy of Engineering Physics,Mianyang 621900,China;
    2.School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China
  • Received:2013-11-21 Online:2015-09-01 Published:2015-09-01

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摘要： 针对传统多轴振动台内力耦合控制策略控制参数复杂、控制效果差的缺点,提出一种基于变形位移和变形力空间的内力耦合控制策略。给出超冗余振动台电液伺服系统的非线性方程及机械部分的单刚体动力学模型,在内力耦合空间分析的基础上,通过内力合成矩阵对合成内力进行闭环反馈补偿,由冗余变形分解矩阵将补偿量分配到各液压伺服阀的输入端。仿真结果显示该算法能有效降低超冗余液压振动台的液压缸出力及耦合内力。

关键词: 流体传动与控制, 超冗余振动台, 内力耦合, 电液伺服系统

Abstract: Traditional internal force coupling control for shaking table is complex and shows poor control performance because of the same control parameter numbers of the cylinders. In order to stabilize the internal force, a novel Internal Force Coupling (IFC) control strategy is proposed based on deformation displacement and force spaces. Nonlinear equations of electro-hydraulic servo system and single rigid body dynamic model of mechanical part of the hyper-redundant shaking table are established with hydraulic and parallel mechanism theory respectively. Under the analysis of internal force space, internal forces calculated by force synthesis matrix are compensated in closed loop and decomposed to the inputs of the servovalves through the redundant deformation matrix. Simulation results show that the IFC control strategy effectively reduces cylinder forces and internal coupling forces of the hyper-redundant multi-axis hydraulic shaking table.

Key words: fluid power transmission and control, hyper-redundant shaking table, internal force coupling, electro-hydraulic servo system

中图分类号: 

  • TH137
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