液压驱动冗余振动台自由度控制及内力协调
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摘要
振动台是一种对高层建筑、大型桥梁和基础设施等大型结构进行抗震性能试验的重要设备。为了提高振动台有效载荷,以便进行大尺寸或全尺寸结构试验,振动台通常采用液压驱动冗余并联机构。首先根据液压驱动冗余振动台机液作用机理,建立了冗余振动台的整体机液动力学模型,并提出一种适用于液压驱动冗余振动台的自由度控制结构。之后,针对冗余驱动内力耦合问题,采用基于雅克比矩阵伪逆的内力协调控制方法,协调控制各激振器间的出力,减少各个激振器间的内力耦合。最后,通过仿真分析,验证了所提出的自由度控制和内力协调控制的有效性。
A shaking table is an important facility for earthquake damage testing of large scale structures like high buildings,large bridges and infrastructural systems.To improve the payload capacity in the test for large-scale structures or real-scale structures,hydraulically redundant actuated parallel mechanisms are usually adopted.By exploring the interactions between the mechanical parts and the hydraulially actuated systems,an integrated model of hydraulically redundant actuated shaking table was provided.Then,a framework of degree-of-freedom(DoF) control for this type of shaking table was put forward.To regulate forces among the redundant actuated systems and to reduce force couplings,an inner force balancing control method based on pseudo-inverse of Jacobian matrix was also employed.Simulations validated the proposed DoF control and inner force balancing method.
A shaking table is an important facility for earthquake damage testing of large scale structures like high buildings,large bridges and infrastructural systems.To improve the payload capacity in the test for large-scale structures or real-scale structures,hydraulically redundant actuated parallel mechanisms are usually adopted.By exploring the interactions between the mechanical parts and the hydraulially actuated systems,an integrated model of hydraulically redundant actuated shaking table was provided.Then,a framework of degree-of-freedom(DoF) control for this type of shaking table was put forward.To regulate forces among the redundant actuated systems and to reduce force couplings,an inner force balancing control method based on pseudo-inverse of Jacobian matrix was also employed.Simulations validated the proposed DoF control and inner force balancing method.
引文
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[2]George E B Jr.Design Aspects of the Large High PerformanceOutdoor Shake Table(LHPOST)at Camp Elliott.[2009.10.04]2003-06-04.http://nees.ucsd.edu.
[3]Cheops.中国地震工程实验室及振动台汇总.[2009.10.04]2004-01-09.http://okok.org/forum/viewthread.php?tid=47331&extra=page%3D1%26amp%3Bfilter%3Ddigest&page=1.
[4]关广丰.六自由度液压振动试验系统控制策略研究[D].哈尔滨:哈尔滨工业大学,2007.
[5]Cheng H,Yiu Y K,Li Z X.Dynamics and Control ofParallel Manipulators with Actuation Redundancy[D].HongKong:The Hong Kong University of Science and Technology,2001.
[6]蔡霖,何景峰,靳军,等.虚拟样机技术的冗余驱动振动台内力控制仿真研究[J].现代制造工程,2009(6):42-44.
[7]韩俊伟,李玉亭,胡宝生.大型三向六自由度地震模拟振动台[J].地震学报,1998,20(3):327-331.
[8]关广丰,等.6自由度液压振动台伺服控制策略[J].液压与气动,2008(10):29-32.
[9]Zhao Y,Gao F.Dynamic performance comparison of the8PSS redundant parallel manipulator and its non-redundantcounterpart-the 6PSS parallel manipulator[J].Mechanismand Machine Theory,2003,8(4):991-1008.
[10]Zhao Y,Gao F.Dynamic formulation and performanceevaluation of the redundant parallel manipulator[J].Roboticsand Computer Integrated Manufacturing,2009(25):770-781.
[11]Zhao Y,Gao F,Li W M,et al.Development of 6-dofparallel seismic simulator with novel redundant actuation[J].Mechatronics,2009,(19):422-427.
[12]Cheng H,Yiu Y K,Li Z X.Dynamics and control ofredundantly actuated parallel manipulators[J].IEEETransactions on Mechatronics,2003,8(4):483-491.
[13]李洪人.液压控制系统(修订版)[M].北京:国防工业出版社,1990:53-58.
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