六自由度复杂并联机构电液驱动平台运动控制方法研究  

Research on Motion Control Method of Electro-hydraulic Drive Platform for 6-DOF Complex Parallel Mechanism

作　　者：李信言 LI Xin-yan(Xi an Aeronautical Polytechnic Institute,Aviation Manufacturing Engineering Center,Xi an 710089,China)

机构地区：[1]西安航空职业技术学院航空制造工程中心,陕西西安710089

出　　处：《液压气动与密封》2022年第9期19-21,27,共4页Hydraulics Pneumatics & Seals

基　　金：西安航空职业技术学院2020年度科研计划项目(20XHZK-02)。

摘　　要：针对六自由度并联机构在带载运动过程中会导致电液驱动平台运动不稳定,运动精度下降的问题,提出一种基于多参数整定的滑模控制解耦运动控制策略,首先,在六自由度复杂并联机构电液驱动平台系统结构基础上,建立了其运动学数学模型;其次,设计了滑模控制策略来优化电液驱动力矩控制,提高运动的稳定性;最后,在MATLAB/Simulink建模平台构建了电液驱动平台控制算法模型,结合硬件在环试验环境对控制方法进行了试验验证,实验结果表明,该运动控制方法能够快速地提升平台的运动稳定性和精确度。Aiming at the problem that 6-DOF parallel mechanism will cause the movement of electro-hydraulic drive platform to be unstable and the motion accuracy to be reduced during the process of loaded motion,a sliding mode control decoupling motion control strategy based on multi-parameter tuning is proposed.Firstly,based on the structure of electro-hydraulic drive platform system of the 6-DOF complex parallel mechanism,its kinematic mathematical model is established.Secondly,the sliding mode control strategy is designed to optimize the electro-hydraulic drive torque control.In order to improve the stability of motion,an electro-hydraulic drive platform control algorithm model is built on MATLAB/Simulink modeling platform,and the control method is tested and validated in the ring test environment by hardware.The experimental results show that the motion control method can rapidly improve the accuracy of the platform motion stability.

关 键 词：并联机构 电液驱动 滑模控制 力矩控制 硬件在环试验 

分 类 号：TH137[机械工程—机械制造及自动化]