超冗余多轴液压振动台的内力耦合控制
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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。
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.
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.
引文
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[15]Merritt H E.Hydraulic Control Systems[M].New York:John Wiley&Sons,1967.
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[2]Shen Gang,Zhu Zhen-cai,Zhang Lei,et al.Adaptive feed-forward compensation for hybrid control with acceleration time waveform replication on electro-hydraulic shaking table[J].Control Engineering Practice,2013,21(8):1128-1142.
[3]Severn R T.The development of shaking tables—A historical note[J].Earthquake Engineering and Structural Dynamics,2011,40(2):195-213.
[4]Plummer A R.A detailed dynamic model of a sixaxis shaking table[J].Journal of Earthquake Engineering,2008,12(4):631-662.
[5]Tagawa Y,Kajiwara K.Controller development for the E-Defense shaking table[J].Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2007,221(2):171-181.
[6]Plummer A R.A general coordinate transformation framework for multi-axis motion control with applications in the testing industry[J].Control Engineering Parctice,2010,18(6):598-607.
[7]Saglia J A,Tsagarakis N G,Dai J S,et al.Inversekinematics-based control of a redundantly actuated platform for rehabilitation[J].Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2009,223(1):53-70.
[8]何景峰,李保平,佟志忠,等.液压驱动冗余振动台自由度控制及内力协调[J].振动与冲击,2011,30(3):74-78.He Jing-feng,Li Bao-ping,Tong Zhi-zhong,et al.DoF control and inner force balancing of hydraulically redundant actuated shaking table[J].Journal of Vibration and Shock,2011,30(3):74-78.
[9]关广丰,熊伟,王海涛,等.6自由度电液振动台控制策略研究[J].振动与冲击,2010,29(4):200-203.Guan Guang-feng,Xiong Wei,Wang Hai-tao,et al.Control strategy of a 6-DOF hydraulic shaker[J].Journal of Vibration and Shock,2010,29(4):200-203.
[10]Underwood Marcos A,Keller Tony.Applying coordinate transformations to multi-DOF shaker control[J].Sound and Vibration,2006,40(1):22-27.
[11]Jiang Hong-zhou,He Jing-feng,Tong Zhi-zhong.Characteristics analysis of joint space inverse mass matrix for the optimal design of a 6-DOF parallel manipulator[J].Mechanism and Machine Theory,2010,45(5):722-739.
[12]Chen Yi-xin,Mclnroy John E.Decoupled control of flexure-jointed hexapods using estimated joint-space mass-inertia matrix[J].IEEE Transactions on Control Systems Technology,2004,12(3):413-421.
[13]Dasgupta B,Mruthyunjaya T S.Closed-form dynamic equation of the general Stewart platform through the Newton-Euler approach[J].Mechanism and Machine Theory,1998,33(7):993-1012.
[14]Jiang Hong-zhou,He Jing-feng,Tong Zhi-zhong.Modal space control for a hydraulically driven Stewart platform[J].Journal of Control Engineering and Technology,2012,2(3):106-115.
[15]Merritt H E.Hydraulic Control Systems[M].New York:John Wiley&Sons,1967.
[16]Li H R.Hydraulic Control Systems[M].Beijing:National Defense Industry Press,1990.