六自由度运动模拟器振动控制策略  

Vibration control strategy for six-DOF motion simulator

作　　者：马建明[1] 何景峰[1] 熊海国[1] 韩俊伟[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《吉林大学学报（工学版）》2010年第2期511-516,共6页Journal of Jilin University:Engineering and Technology Edition

基　　金：教育部新世纪优秀人才计划项目(NCET-04-0325)

摘　　要：针对液压驱动六自由度运动模拟器在对振动环境进行模拟的过程中存在幅值衰减和相位滞后,难以保证对高频随机信号的复现精度这一问题,提出采用基于铰点空间控制与基于操作空间控制相结合的方式,在单缸比例加前馈控制的基础上,通过三状态控制策略来扩展系统的频宽,同时在保证系统稳定的前提下达到精确复现输入位置随机信号的目的。实验结果表明,采用三状态控制策略的六自由度运动模拟器可以将系统输出对输入的位置随机信号在0.5～25Hz频率内的功率谱密度误差控制在±3dB以内,满足精确复现的性能指标。Using a hydraulically driven six-FOD motion simulator to simulate the vibration environment,there exist amplitude attenuation and phase lag due to the characteristics of closed-loop amplitude and frequency responses of the simulator.Therefore,it is difficult to achieve accurate track and recurrence of high frequency random signals.To solve this problem,a vibration control strategy is proposed,which combines the joint space based and the operation space based control modes together.This strategy adopts the 3-state control technology based on the classic PID together with the feedforward of the single cylinder control method.It can extend the frequency bandwidth of the system and achieve the accurate recurrence under the precondition of system stability.Experiment results show that the control strategy can make the six-DOF motion simulator to track the random signals of the range of 0.5 to 25 Hz and can control the recurrence error accuracy of random signals within ±3 dB.This strategy satisfies the performance index of the accurate recurrence.

关 键 词：自动控制技术 振动控制策略 三状态控制 六自由度运动模拟器 随机信号 功率谱密度误差 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]