超冗余液压振动台的模态空间解耦控制
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摘要
为解决超冗余振动台在带负载工作时自由度间出现耦合运动的现象,提出一种基于模态空间的解耦控制策略.建立液压伺服系统的线性化模型,将液压缸视为液压弹簧,分析超冗余振动台的振动模态方程;通过标准模态矩阵及其逆矩阵,将超冗余振动台由自由度空间转到无耦合的模态空间进行控制;在模态空间应用三状态反馈控制,通过极点配置,实现自由度间的解耦控制.仿真结果表明,该模态解耦控制策略在时域和频域内均可有效降低超冗余振动台自由度间的动力学耦合,提高位姿的跟踪精度.
To solve the problem of coupling movements between degrees of freedom( DOF) of hyper-redundant shaking table while working with a load,a novel decoupling control strategy based on modal space is proposed.Linear model of hydraulic servo system is established and modal equation of hyper-redundant shaking table is given by considering hydraulic cylinder as a hydraulic spring. By standard modal matrix and its inverse matrix,the hyper-redundant shaking table is controlled in non-coupling modal space instead of DOF space. Three variables feedback control is employed in modal space to achieve decoupling control by pole placement.Simulation results show that the proposed decoupling control strategy can effectively improve tracking accuracy and reduce the dynamic coupling among DOF in both time and frequency domain.
To solve the problem of coupling movements between degrees of freedom( DOF) of hyper-redundant shaking table while working with a load,a novel decoupling control strategy based on modal space is proposed.Linear model of hydraulic servo system is established and modal equation of hyper-redundant shaking table is given by considering hydraulic cylinder as a hydraulic spring. By standard modal matrix and its inverse matrix,the hyper-redundant shaking table is controlled in non-coupling modal space instead of DOF space. Three variables feedback control is employed in modal space to achieve decoupling control by pole placement.Simulation results show that the proposed decoupling control strategy can effectively improve tracking accuracy and reduce the dynamic coupling among DOF in both time and frequency domain.
引文
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[5]DELLA-FLORA L,GRNDLING H A.Time domain sinusoidal acceleration controller for an electrodynamic shaker[J].IET Control Theory and Applications,2008,12(2):1044-1053.
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[8]韩俊伟.三向六自由度大型地震模拟振动台的研制[D].哈尔滨:哈尔滨工业大学,1996.
[9]TAGAWA Y,KAJIWARA K.Controller development for the E-Defense shaking table[J].Journal of System and Control Engineering,2007,221(2):171-181.
[10]PLUMMER A R,GUINZIO P S.Modal control of an electrohydrostatic flight simulator motion system[C]//Proceedings of the ASME Dynamic Systems and Control Conference.Hollywood:American Society of Mechanical Engineers,2009:1257-1264.
[11]JIANG Hongzhou,HE Jingfeng,TONG Zhizhong.Modal space control for a hydraulically driven Stewart platform[J].Journal of Control Engineering and Technology,2012,2(3):106-115.
[12]YANG Chifu,HUANG Qitao,HAN Junwei.Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot[J].Robotics and Computer-Integrated Manufacturing,2012,28(1):14-23.
[13]OGBOBE P O,YE Zhengmao,JIANG Hongzhou,et al.Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot[C]//Proceedings of 2010 2nd International Conference on Mechanical and Electronics Engineering.Piscataway:IEEE Computer Society Press,2010:1280-1284.
[14]李洪人.液压控制系统[M].北京:国防工业出版社,1990.
[15]金斯伯格J H.机械与结构振动:理论与应用[M].白化同,李俊宝,译.北京:中国宇航出版社,2005.
[16]JIANG Hongzhou,HE Jingfeng,TONG Zhizhong.Characteristics analysis of joint space inverse mass matrix for the optimal design of a 6-DOF parallel manipulator[J].Mechanism and Machine Theory,2010,45(5):722-739.
[2]SHUNSUKE Y,TAKAHIRO S,TOSHIRO T.The shaking table test of the interaction between the pier type wharf and the container crane during earthquakes[J].Transactions of the Japan Society of Mechanical Engineers,Part C,2002,68:3209-3216.
[3]JI Xiaodong,KOUICHI K,TAKUYA N,et al.A substructure shaking table test for reproduction of earthquake responses of high-rise buildings[J].Earthquake Engineering and Structural Dynamics,2009,38:1381-1399.
[4]KIM J W,XUAN D J,KIM Y B.Design of a forced control system for a dynamic road simulator using QFT[J].International Journal of Automotive Technology,2008,9(1):37-43.
[5]DELLA-FLORA L,GRNDLING H A.Time domain sinusoidal acceleration controller for an electrodynamic shaker[J].IET Control Theory and Applications,2008,12(2):1044-1053.
[6]SEVERN R T.The development of shaking tables-A historical note[J].Earthquake Engineering and Structural Dynamics,2011,40(2):195-213.
[7]MATABI M,KOUICHI K,YASUTAKA T,et al.Shaking table-test model coupled dynamics in E-Defense[J].Transactions of the Japan Society of Mechanical Engineers,Part C,2006,72:30-36.
[8]韩俊伟.三向六自由度大型地震模拟振动台的研制[D].哈尔滨:哈尔滨工业大学,1996.
[9]TAGAWA Y,KAJIWARA K.Controller development for the E-Defense shaking table[J].Journal of System and Control Engineering,2007,221(2):171-181.
[10]PLUMMER A R,GUINZIO P S.Modal control of an electrohydrostatic flight simulator motion system[C]//Proceedings of the ASME Dynamic Systems and Control Conference.Hollywood:American Society of Mechanical Engineers,2009:1257-1264.
[11]JIANG Hongzhou,HE Jingfeng,TONG Zhizhong.Modal space control for a hydraulically driven Stewart platform[J].Journal of Control Engineering and Technology,2012,2(3):106-115.
[12]YANG Chifu,HUANG Qitao,HAN Junwei.Decoupling control for spatial six-degree-of-freedom electro-hydraulic parallel robot[J].Robotics and Computer-Integrated Manufacturing,2012,28(1):14-23.
[13]OGBOBE P O,YE Zhengmao,JIANG Hongzhou,et al.Modal space decoupled controller for hydraulically driven six degree of freedom parallel robot[C]//Proceedings of 2010 2nd International Conference on Mechanical and Electronics Engineering.Piscataway:IEEE Computer Society Press,2010:1280-1284.
[14]李洪人.液压控制系统[M].北京:国防工业出版社,1990.
[15]金斯伯格J H.机械与结构振动:理论与应用[M].白化同,李俊宝,译.北京:中国宇航出版社,2005.
[16]JIANG Hongzhou,HE Jingfeng,TONG Zhizhong.Characteristics analysis of joint space inverse mass matrix for the optimal design of a 6-DOF parallel manipulator[J].Mechanism and Machine Theory,2010,45(5):722-739.
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