6自由度液压振动台运动学分析及控制策略
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摘要
为提高6自由度液压振动台的控制精度,提出了一种基于运动学分析的振动台控制策略。依据机构学原理描述振动台的结构并进行运动学分析和计算,利用位姿正解算法及雅克比矩阵分别代替传统控制策略中的位置自由度合成及分解矩阵,并给出了基于运动学分析的6自由度液压振动台控制器结构。正弦振动试验结果表明,基于运动学分析的控制策略能够显著削弱平台在低频大位移振动时的牵连运动,提高系统的加速度均匀度和横向分量指标,可明显改善振动台系统低频段的控制精度。
Kinematic analysis and the new control structure of a 6-degree-offreedom(DOF) hydraulic vibration table were presented to improve the control precision of the system.The vibration table structure was introduced and analyzed.The forward solution algorithm and the Jacobian matrix were developed to replace the DOF composition and decomposition matrices in conventional control method.The new control structure of 6 DOF hydraulic vibration table was presented based on kinematic analysis.Sine vibration tests were conducted in one hydraulic vibration table.The results show that the control strategy can markedly weaken the convected motion of the table under the condition of low frequency,big displacement vibrations,raise the degree of acceleration evenness and the transverse component indices,and improve the control precision of the table within the lowfrequency band.
Kinematic analysis and the new control structure of a 6-degree-offreedom(DOF) hydraulic vibration table were presented to improve the control precision of the system.The vibration table structure was introduced and analyzed.The forward solution algorithm and the Jacobian matrix were developed to replace the DOF composition and decomposition matrices in conventional control method.The new control structure of 6 DOF hydraulic vibration table was presented based on kinematic analysis.Sine vibration tests were conducted in one hydraulic vibration table.The results show that the control strategy can markedly weaken the convected motion of the table under the condition of low frequency,big displacement vibrations,raise the degree of acceleration evenness and the transverse component indices,and improve the control precision of the table within the lowfrequency band.
引文
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[2]王小亮,李立,张卫华.高速列车垂向振动的模拟器再现方法研究[J].振动、测试与诊断,2009,29(1):101-104.
[3]张福波,王贵桥,杜林秀,等.电液伺服疲劳试验机波形幅值的模糊补偿[J].振动、测试与诊断,2008,28(2):96-99.
[4]王树青,王长青,李华军.基于模态应变能的海洋平台损伤定位试验研究[J].振动、测试与诊断,2006,26(4):282-287.
[5]韩俊伟.三向六自由度大型地震模拟振动台的研制[D].哈尔滨:哈尔滨工业大学,1996.
[6]关广丰.液压驱动六自由度振动试验系统控制策略研究[D].哈尔滨:哈尔滨工业大学,2007.
[7]Sullivan M T,Tock G S.Degree of freedom digitalcontrol system for a hydraulic press[P].UnitedStates,5068779.1991-11-26.
[8]Underwood M A,Keller T.Rectangular control ofmulti-shaker systems:theory and some practical re-sults[J].Journal of the Institute of EnvironmentalScience and Technology,2004,47(1):80-86.
[9]Underwood M A,Keller T.Applying coordinatetransformations to multi degree of freedom shakercontrol[J].Sound and Vibration,2006,40(1):22-27.
[10]徐勇.六自由度转台控制策略及三维动画仿真研究[D].哈尔滨:哈尔滨工业大学,2001.
[11]李庆扬,莫孜中,祁力群.非线性方程组的数值解法[M].北京:科学出版社,1999.
[12]北京机械工业自动化研究所,长春试验机研究所.JB/T 8288-2001液压振动台[S].北京:中国机械工业联合会,2001.
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