基于动力学模型前馈的液压振动台控制  

Feed-forward Control Based on Dynamic Model Inversion for Hydraulic Shaking Table

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

机构地区：[1]航空工业庆安集团有限公司,陕西西安710077

出　　处：《液压与气动》2021年第5期183-188,共6页Chinese Hydraulics & Pneumatics

摘　　要：由于液压振动台通常存在较严重的非线性和外界干扰,传统三状态控制器设计需在跟踪精度和稳定性之间做出权衡,系统难以获得良好的控制性能。以8条液压缸驱动的冗余振动台为研究对象,建立系统运动学和动力学数学模型。利用动力学逆模型预测各伺服阀阀口开度并加以前馈,以补偿非线性因素影响,结合三状态反馈控制,实现对加速度信号跟踪。采用MATLAB/Simulink和ADAMS软件搭建控制系统模型,仿真表明,该方法可有效提高加速度波形复现精度,具有良好的控制性能。For the hydraulic shaking table in presence of highly non-linear dynamics and external load disturbance,there is a trade-off between control precision and stability for the design of traditional three-variable controller,which results in poor control performance.A 6-DOF redundant shaking table actuated by eight hydraulic actuators is taken as the object of study and its kinematics and kinetic models are built firstly.With three-variable feedback controller,the feed-forward path using dynamic model inversion determines the required opening quantity of each servo valve and enables acceleration tracking control,which compensates for the effect caused by non-linear factors.The control system model is built using MATLAB/Simulink and ADAMS.Simulation results show that the control method can improve the accuracy of acceleration waveform reproduction effectively and has good control performance.

关 键 词：液压振动台 动力学模型 前馈控制 波形复现 

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