电液驱动3-UPS/S并联稳定平台的动力学参数辨识  

Identification of Dynamics Parameters for an Electro-hydraulic 3-UPS/S Parallel Stabilized Paltform

作　　者：郭菲[1,2] 李永泉[2,3] 李玉昆[2,3] 张宇[1,2] 张立杰[1,2] 

机构地区：[1]燕山大学河北省重型机械流体动力传输与控制实验室,秦皇岛066004 [2]燕山大学先进锻压成形技术与科学教育部重点实验室,秦皇岛066004 [3]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004

出　　处：《中国机械工程》2016年第21期2862-2868,2876,共8页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51275438;51405421);河北省自然科学基金资助项目(E2011203214)

摘　　要：以电液驱动并联稳定平台为研究对象,对平台惯性参数和驱动关节液压缸摩擦参数进行了基于实验的辨识研究。利用关键点旋量等效原则和虚功原理构建了平台惯性参数辨识模型,以五次多项式改进的傅里叶级数构造了激励轨迹,并进行了优化;基于液压缸摩擦力模型,分离出模型中固有的摩擦参数,建立了摩擦参数辨识模型,并规划了辨识轨迹。通过辨识实验得到了惯性参数及摩擦参数的辨识结果,利用任意轨迹实验对结果进行了验证。An electro-hydraulic parallel stabilized paltform was selected as the research object,and the inertia and friction parameters of the system were identified via the experiments.The identification model for the inertia parameters was obtained by screw equivalence principle and virtual work principle,and the exciting trajectory was designed by Fourier series which was modified by quintic polynomial and optimized.The intrinsic friction parameters were separated from the friction model,the identification model for the friction parameters was built,and the exciting trajectories were planned.The identification results were obtained by the experiments,and verified through an arbitrary trajectory.

关 键 词：参数辨识 并联机器人 激励轨迹 动力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]