三轴六自由度电液振动台解耦控制  

Decoupling control for a triaxial 6-DOF Electro-hydraulic shaking table

作　　者：沈刚[1] 朱真才[1] 李翔[1] 汤裕[1] 杨寅威[1] 丛大成[2] 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116 [2]哈尔滨工业大学机电工程学院,哈尔滨150080

出　　处：《振动与冲击》2015年第19期1-7,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金(51205392);江苏省自然科学基金(BK20120132);中国博士后特别资助(2013T60571)

摘　　要：为了解决三轴六自由度电液振动台自由度之间耦合问题,提出一种基于逆模型的前馈补偿器解耦策略。对多轴电液振动台的系统传递函数转化为矩阵型式并进行分析,推导出基于系统逆模型解耦控制方案,利用递推增广最小二乘法(Recursive Extended Least Square,RELS)及零相差跟踪技术(Zero Phase Error Tracking,ZPET)设计出系统逆模型并得到相应的解耦控制器。最后,利用六自由度电液振动台对提出的算法进行实验验证。实验结果表明,解耦后的系统性能得到较大改善,一定程度上降低了耦合信号。To solve the coupling problem among DOFs of a Triaxial 6-DOF electro-hydraulic shaking table（ EHST）,a feedforward compensation decoupling strategy was proposed based on an inverse model. Firstly,for the multiaxis electro-hydraulic shaking table,its system transfer function was taken as a form of matrix and analyzed to deduce the decoupling control scheme based on the system inverse model. Then,the system inverse model and corresponding decoupling controller were obtained by employing the recursive extended least square algorithm（ RELS） and the zero phase error tracking technology（ ZPET）. Finaly,tests were conducted on a 6-DOF electro-hydraulic shaking table to verify the validity of the proposed algorithm. The results demonstrated that the proposed decoupling control strategy can greatly improve the system performance.

关 键 词：电液振动台 补偿 逆模型 解耦控制 系统辨识 

分 类 号：TP271.31[自动化与计算机技术—检测技术与自动化装置]