冗余驱动两轴电液角振动台控制方法研究  

Control of a two-axis redundantly actuated electro-hydraulic angle shaking table

作　　者：关广丰[1] 熊伟[1] 王海涛[1] GUAN Guangfeng;XIONG Wei;WANG Haitao(Department of Mechanical Engineering, Dalian Maritime University,Dalian 116026, China)

机构地区：[1]大连海事大学机械工程系,辽宁大连116026

出　　处：《振动与冲击》2018年第6期42-46,共5页Journal of Vibration and Shock

基　　金：国家自然科学基金项目(51675073);中央高校基本科研业务费专项(3132017019);大连市高层次人才创新创业项目(2015R064)

摘　　要：冗余驱动多轴电液振动台能够有效提升系统的承载能力,改善系统的加速度均匀度及横向分量等指标,已成为振动模拟实验系统的主要发展方向。控制系统是冗余驱动多轴电液振动台的关键组成部分。基于运动学分析进行铰点空间信号与工作空间信号的转换,设计加速度控制回路,提高大位姿条件下系统的控制精度。基于冗余振动台动力学方程设计内力协调控制回路,减小各缸间的内力耦合。分别通过位姿控制、阶跃响应、加速度频率特性分析和正弦振动实验验证控制策略的有效性。The redundant actuation is favorable to spread the load of electro-hydraulic shaking tables and improve the performance indices of evenness and transverse component of acceleration signals.The redundantly actuated electro-hydraulic shaking table is a new prospect for vibration test systems and the corresponding control system is the key technology of multi-axis electro-hydraulic shaking tables.A kinematics analysis was presented to transform signals between the joint space and work space,and an acceleration control loop was developed based on the kinematics analysis and the control precision was improved when actuator strokes are relatively large.An inner force control loop was designed based on the dynamic analysis of the shaking table to reduce the cross coupling among the actuators.The constant attitude test,step response and acceleration amplitude frequency response characteristics analysis and sine vibration test were used to verify the effectiveness of the proposed control method.

关 键 词：多轴电液振动台 冗余驱动 加速度控制 运动学分析 内力协调 

分 类 号：TP271.31[自动化与计算机技术—检测技术与自动化装置]