液压驱动冗余并联机构内力分析及抑制  

Internal force analysis and rejection of hydraulically driven redundant parallel mechanism

作　　者：高长虹[1] 杨志东[1] 丛大成[1] 韩俊伟[1] 杨炽夫[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《中南大学学报（自然科学版）》2017年第11期2898-2906,共9页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(51205077;51475116)~~

摘　　要：针对液压驱动冗余并联机构内力问题,分析内力空间及其基的构成,在自由度控制框架下研究不同因素对系统内力的影响。提出基于误差最小控制综合算法(Er-MCSI)的内力抑制策略,以克服液压系统中较强的时变非线性和干扰因素对内力抑制效果的影响。以1个具有2个冗余自由度的六自由度液压驱动冗余并联机构为例,仿真研究该机构分别在等位移、等速和等加速度段工况下不同因素对系统内力的影响,并对其进行内力抑制。研究结果表明:提出的内力抑制策略可实现内力抑制增益在线自适应调节,具有较好的内力抑制效果。To analyze the internal force characteristics and reduce the internal force of hydraulically driven parallelmechanism, the internal force space and its basis were described firstly. The influence of different factors on internalforce of the system was discussed under the freedom control framework. Then an internal force rejection strategy basedon the error-based minimal control synthesis with integral action （Er？MCSI） algorithm was proposed for the HDRPMwith high nonlinearity, time-varying parameters and external disturbance. Finally, taking a six degrees-of-freedom （DOF）HDRPM with two redundant DOF as an example, under the working conditions of equal displacement, equal velocity andequal acceleration, the influence of different factors on internal force of the system was investigated. The proposedinternal force rejection strategy was implemented. The results show that the control method can online adjust theparameters adaptively online and reduce the internal force effectively.

关 键 词：液压驱动 冗余并联机构 内力抑制 最小控制综合 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]