大型六自由度振动平台的运动控制研究  

Research on Motion Control about Large Six-dof Vibration Plate

作　　者：王隶梓[1] 王兴宇[2] 李力强[1] 

机构地区：[1]长春工程学院,吉林长春130012 [2]吉林大学,吉林长春130025

出　　处：《制造技术与机床》2010年第11期64-68,共5页Manufacturing Technology & Machine Tool

基　　金：吉林省科技发展计划项目(20080356)

摘　　要：提出了一种应用于工程机械测试的大型六自由度振动平台。在分析平台姿态解算函数的同时,给出了一种基于EV模型频响函数估计的波形复现算法,该算法实质是频响函数的实时在线修正方法,有利于提高波形复现精度。仿真结果表明:平台姿态解算函数正确,基于EV模型频响函数估计的波形复现算法能够实现平台对输入波形的准确复现,具有较高的控制精度。A large six-dof vibration platform which is used to test engineering machinery has been proposed.Analyzed the solution functions of loading plate posture,meanwhile,an algorithm of waveform replication that based on EV model has been given,the essence is on-line correction by real time,which is helpful to improve accuracy of waveform replication.Simulation results show that the solution functions of plate posture is accurate,the algorithm of waveform replication that based on EV model can realize replication about input waves accurately also,which possess a high control accuracy.

关 键 词：六自由度 振动平台 位姿估算 EV模型 

分 类 号：TP271.3[自动化与计算机技术—检测技术与自动化装置]