三轴六自由度电液振动台解耦控制

沈 刚1 朱真才1 李翔1 汤裕1 杨寅威1 丛大成2

振动与冲击 ›› 2015, Vol. 34 ›› Issue (19) : 1-7.

PDF(3674 KB)
PDF(3674 KB)
振动与冲击 ›› 2015, Vol. 34 ›› Issue (19) : 1-7.
论文

三轴六自由度电液振动台解耦控制

  • 沈 刚1 朱真才1 李翔1 汤裕1 杨寅威1 丛大成2
作者信息 +

Decoupling Control for Triaxial 6 Degree-of-Freedom Electro-hydraulic Shaking Table

  • Shen Gang1, Zhu Zhencai1, Li Xiang1, Tang Yu1, Yang Yinwei1 ,Cong Dacheng2
Author information +
文章历史 +

摘要

为了解决三轴六自由度电液振动台自由度之间耦合问题,提出一种基于逆模型的前馈补偿器解耦策略。对多轴电液振动台的系统传递函数转化为矩阵型式并进行分析,推导出基于系统逆模型解耦控制方案,利用递推增广最小二乘法(Recursive Extended Least Square, RELS)及零相差跟踪技术(Zero Phase Error Tracking,ZPET)设计出系统逆模型并得到相应的解耦控制器。最后,利用六自由度电液振动台对提出的算法进行实验验证。实验结果表明,解耦后的系统性能得到较大改善,一定程度上降低了耦合信号。

Abstract

To solve the coupling problem between freedom of Triaxial 6 Degree-of-Freedom Electro-hydraulic Shaking Table(EHST), this paper proposes a feedforward compensation decoupling strategy based on inverse model. Firstly, for multi-axis electro-hydraulic shaking table,typing system transfer function into matrix and ansysing to deduce decoupling strategy based on inverse model based on system inverse model.Then, the system inverse model and corresponding decoupling controller are obtained by employing the Recursive Extended Least Square algorithm (RELS) and Zero Phase Error Tracking Technology (ZPET).Finaly, experiments conducted on a six degree-of-freedom electro-hydraulic shaking table to verify the validity of the proposed algorithm. The results demonstrate that the proposed decoupling strategy can greatly improve system performance,.Coupled signal is reduced to some extent.

关键词

电液振动台 / 补偿 / 逆模型 / 解耦控制 / 系统辨识

Key words

Electro-hydraulic shaking table / Compensate / Inverse model / Decoupling Control / System Identification

引用本文

导出引用
沈 刚1 朱真才1 李翔1 汤裕1 杨寅威1 丛大成2 . 三轴六自由度电液振动台解耦控制[J]. 振动与冲击, 2015, 34(19): 1-7
Shen Gang1, Zhu Zhencai1, Li Xiang1, Tang Yu1, Yang Yinwei1,Cong Dacheng2. Decoupling Control for Triaxial 6 Degree-of-Freedom Electro-hydraulic Shaking Table[J]. Journal of Vibration and Shock, 2015, 34(19): 1-7

参考文献

null

PDF(3674 KB)

1155

Accesses

0

Citation

Detail

段落导航
相关文章

/