冗余驱动两轴电液角振动台控制方法研究

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振动与冲击 ›› 2018, Vol. 37 ›› Issue (6) : 42-46.

论文

冗余驱动两轴电液角振动台控制方法研究

关广丰，熊伟，王海涛

作者信息 +

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

GUAN Guang?feng, XIONG Wei, WANG Haitao

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文章历史 +

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。首先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。然后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。最后分别通过位姿控制、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。

Abstract

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

Key words

Multi-axis electro-hydraulic shaking table / redundantly drive / acceleration control / kinematics analysis / inner force control

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导出引用

关广丰，熊伟，王海涛. 冗余驱动两轴电液角振动台控制方法研究[J]. 振动与冲击, 2018, 37(6): 42-46

GUAN Guang?feng, XIONG Wei, WANG Haitao. Control of a twoaxis redundantly actuated electrohydraulic angle shaking table[J]. Journal of Vibration and Shock, 2018, 37(6): 42-46

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