液压驱动冗余并联加载机构耦合特性分析和控制  

Coupling Analysis and Control of Hydraulically Actuated Redundant Parallel Loading Mechanism

作　　者：刘新永 高长虹 熊珊 何彪 LIU Xin-yong;GAO Chang-hong;XIONG Shan;HE Biao(AVIC Qingan Group Co.,Ltd.,Xi'an,Shaanxi 710077)

机构地区：[1]航空工业庆安集团有限公司

出　　处：《液压与气动》2020年第3期174-177,共4页Chinese Hydraulics & Pneumatics

摘　　要：并联加载机构常因自身结构布置和试件特性的影响,机构各支链通道和各自由度间存在强动力学耦合,采用传统的铰点空间控制方法通常难以获得良好的控制性能。以9条液压缸驱动的六自由度冗余并联加载机构为研究对象,建立动力学数学模型。基于模态分析理论,在对并联加载机构耦合特性分析的基础上,提出一种空间转换控制方法。仿真结果表明,该方法能有效降低耦合的影响,提高并联加载机构的控制性能。Due to strong dynamic coupling among channels and DOFs caused by the configuration and the specimen of parallel loading mechanism(PLM),traditional joint-space control for PLM shows poor control performance.A 6-DOF redundant PLM actuated by nine electro-hydraulic servo actuators is taken as the object of study and its dynamic model is built firstly.Then a space conversion control method based on analyzing on coupling characteristics of the PLM by modal analysis theory is proposed.Simulation results show that the control method can reduce the influence of coupling and improve control performance of the PLM effectively.

关 键 词：液压驱动 冗余并联加载机构 模态分析 耦合特性 空间转换 

分 类 号：TH137[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]