幅相控制策略在六自由度运动模拟器中的应用
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摘要
由于六自由度运动模拟器自身的闭环频率特性及非线性等因素,对于正弦输入信号存在幅值衰减和相位滞后,很难实现对高频正弦信号的精确跟踪,针对这一问题采用基于Widrow-Hoff学习算法的幅相控制策略.利用运动学正解间接得到的运动模拟器上平台位姿的反馈信号,通过该控制策略迅速地调整系统输入正弦信号的幅值和相位,使系统输出在短时间内对设定信号进行精确跟踪.仿真和实验表明,该方法在实现六自由度运动模拟器对正弦信号的精确跟踪问题上明显优于常规的经典控制,对于其他正弦运动的精确跟踪系统同样具有普遍意义.
Due to closed-loop amplitude and frequency response characteristics and nonlinear factors in 6-DOF motion simulators,it's difficult to accurately track high frequency harmonic motion.To solve the problem,this paper proposes a control strategy based on the Widrow-Hoff learning algorithm.It adopts the feedback signals of position and orientation of the moving platform,which is indirectly achieved by solving the forward kinematics of the 6-DOF motion simulator,to quickly adjust the amplitude and phase of the input harmonic motion signals.Thus,it can enable the output signal to accurately track the input signal in a short period of time.Simulations and experiments prove that the control strategy is obviously superior to the conventional control strategy in tracking harmonic motion of 6-DOF motion simulators.It also has universal significance to other systems that must precisely track harmonic motion.
Due to closed-loop amplitude and frequency response characteristics and nonlinear factors in 6-DOF motion simulators,it's difficult to accurately track high frequency harmonic motion.To solve the problem,this paper proposes a control strategy based on the Widrow-Hoff learning algorithm.It adopts the feedback signals of position and orientation of the moving platform,which is indirectly achieved by solving the forward kinematics of the 6-DOF motion simulator,to quickly adjust the amplitude and phase of the input harmonic motion signals.Thus,it can enable the output signal to accurately track the input signal in a short period of time.Simulations and experiments prove that the control strategy is obviously superior to the conventional control strategy in tracking harmonic motion of 6-DOF motion simulators.It also has universal significance to other systems that must precisely track harmonic motion.
引文
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[2]徐丽娜.神经网络控制[M].哈尔滨:哈尔滨工业大学出版社,1999:16-18.
[3]周玉光,艾芊,顾丹珍,等.自适应线性神经元在电能质量扰动诊断和频率跟踪中的应用[J].上海交通大学学报,2005,37(12):2072-2077,2087.ZHOUYuguang,AI Qian,GUDanzhen,et al.Adaline andits application in power quality disturbances detection andfrequency tracking[J].Journal of Shanghai Jiao Tong Uni-versity,2005,37(12):2072-2077,2087.
[4]DASHP K,SWAIN D P,ROUTRAY A,et al.An adap-tive neural network approach for the estimation of power sys-tem frequency[J].Electric Power Systems Research,1887,41(3):203-210.
[5]ABDEL-GALI T K,EL-SAADANY E F,SALAM M M A.Power quality event detection using adaline[J].ElectricPower System Research,2003,64(1):137-144.
[6]MICHAEL M,MWEMBESHI C A,KENTS S.Flexible on-line modeling and control of pHin waste neutralization reac-tors[J].Chem Eng Technol,2004,27(2):130-138.
[7]延皓,叶正茂,张辉,等.基于Widrow-Hoff学习算法的液压协调加载控制策略研究[J].地震工程与工程振动,2006,26(3):104-107.YAN Hao,YE Zhengmao,ZHANG Hui,et al.Hydraulicservo systems'synchronous loading strategy based on Wid-row-Hoff learning rules[J].Earthquake Engineering andEngineering Vibration,2006,26(3):104-107.
[8]姚建均,丛大成,姜洪洲,等.基于神经网络的自适应相位纠偏器在电液伺服系统中的应用[J].吉林大学学报(工学版),2007,37(4):930-934.YAO Jianjun,CONG Dacheng,JIANG Hongzhou,et al.ANN-based adaptive phase corrector applied in electro-hy-draulic servo system[J].Journal of Jilin University(Engi-neering and Technology Edition),2007,37(4):930-934.
[9]WIDROW B.Adaptive filters[M].New York:McGrawhill,1970:36-62.
[10]HAGAN MT,DEMUTHHB,BEALE MH,等.神经网络设计[M].戴葵,译.北京:机械工业出版社,2002:168-175.
[11]KOEKEBAKKER S H.Model based control of a flight sim-ulator motion system[D].Netherlands:Delft University ofTechnology,2001:33-60.
[12]何景峰.液压驱动六自由度并联机器人特性及其控制策略研究[D].哈尔滨:哈尔滨工业大学,2007:31-38.HE Jingfeng.Analysis and control of hydraulically driven6-DOF parallel manipulator.[D].Harbin:Harbin Instituteof Technology,2007:31-38.
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