六自由度运动模拟器振动控制策略
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摘要
针对液压驱动六自由度运动模拟器在对振动环境进行模拟的过程中存在幅值衰减和相位滞后,难以保证对高频随机信号的复现精度这一问题,提出采用基于铰点空间控制与基于操作空间控制相结合的方式,在单缸比例加前馈控制的基础上,通过三状态控制策略来扩展系统的频宽,同时在保证系统稳定的前提下达到精确复现输入位置随机信号的目的。实验结果表明,采用三状态控制策略的六自由度运动模拟器可以将系统输出对输入的位置随机信号在0.5～25Hz频率内的功率谱密度误差控制在±3dB以内,满足精确复现的性能指标。
Using a hydraulically driven six-FOD motion simulator to simulate the vibration environment,there exist amplitude attenuation and phase lag due to the characteristics of closed-loop amplitude and frequency responses of the simulator.Therefore,it is difficult to achieve accurate track and recurrence of high frequency random signals.To solve this problem,a vibration control strategy is proposed,which combines the joint space based and the operation space based control modes together.This strategy adopts the 3-state control technology based on the classic PID together with the feedforward of the single cylinder control method.It can extend the frequency bandwidth of the system and achieve the accurate recurrence under the precondition of system stability.Experiment results show that the control strategy can make the six-DOF motion simulator to track the random signals of the range of 0.5 to 25 Hz and can control the recurrence error accuracy of random signals within ±3 dB.This strategy satisfies the performance index of the accurate recurrence.
Using a hydraulically driven six-FOD motion simulator to simulate the vibration environment,there exist amplitude attenuation and phase lag due to the characteristics of closed-loop amplitude and frequency responses of the simulator.Therefore,it is difficult to achieve accurate track and recurrence of high frequency random signals.To solve this problem,a vibration control strategy is proposed,which combines the joint space based and the operation space based control modes together.This strategy adopts the 3-state control technology based on the classic PID together with the feedforward of the single cylinder control method.It can extend the frequency bandwidth of the system and achieve the accurate recurrence under the precondition of system stability.Experiment results show that the control strategy can make the six-DOF motion simulator to track the random signals of the range of 0.5 to 25 Hz and can control the recurrence error accuracy of random signals within ±3 dB.This strategy satisfies the performance index of the accurate recurrence.
引文
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[2]Koekebakker S H.Model based control of a flight simulator motion system[D].Netherlands:Delft U-niversity of Technology,2001.
[3]张曙,Heisel U.并联运动机床[M].北京:机械工业出版社,2003.
[4]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.Han Jun-wei,Li Yu-ting,Hu Bao-sheng.Three di-mensional large scale earthquake simulator with six degrees of freedom[J].Acta Seismologica Sinica,1998,20(3):327-331.
[5]Huang Qi-tao,Jiang Hong-zhou,Zhang Shang-ying,et al.Spacecraft docking simulation using hardware-in-the-loop simulator with Stewart platform[J].Chinese Journal of Mechanical Engineering(English Edition),2005(18):415-418.
[6]Chang Tong-li,Cong Da-cheng,Ye Zheng-mao,et al.Time problems in HIL simulation for on-orbit doc-king and compensation[C]∥Proceedings of IEEE International Conference on Industrial Electronics and Applications,Harbin,China,2007.
[7]Wu Dong-su,Gu Hong-bin.Adaptive sliding controlof six-DOF flight simulator motion platform[J].Chinese Journal of Aeronautics,2007(20):425-433.
[8]Lin L C,Tsay M U.Modeling and control of mi-cropositioning systems using stewart platforms[J].Journal of Robotic Systems,2000,17(1):17-52.
[9]吴军,李铁民,关力文.飞行模拟器运动平台的计算力矩控制[J].清华大学学报:自然科学版,2006,46(8):1405-1408,1413.Wu Jun,Li Tie-min,Guan Li-wen.Computed-torque control for a moving flight simulator platform[J].Tsinghua Univ(Sci&Tech),2006,46(8):1405-1408,1413.
[10]Kim D H,Kang J Y,Lee KI.Robust tracking con-trol design for a6DOF parallel manipulator[J].Journal of Robotic Systems,2000,17(10):527-547.
[11]He Jing-feng,Jiang Hong-zhou,Cong Da-cheng,et al.Asurvey on control of parallel manipulator[J].Key Engineering Materials,2007,339:307-313.
[12]何景峰.液压驱动六自由度并联机器人特性及其控制策略研究[D].哈尔滨:哈尔滨工业大学机电工程学院,2007.He Jing-feng.Analysis and control of hydraulically driven6-DOF parallel manipulator[D].Harbin:School of Mechatronic Engineering,Harbin Institute of Technology,2007.
[13]黄浩华.电液伺服系统在地震工程研究中的应用[J].测控技术,1996,15(4):32-34.Huang Hao-hua.The application of electro-hydrau-lic servo systemin earthquake engineering research[J].Measurement&Control Technology,1996,15(4):32-34.
[14]李洪人.液压控制系统[M].北京:国防工业出版社,1990.
[15]韩俊伟,于丽明,赵慧,等.地震模拟振动台三状态控制的研究[J].哈尔滨工业大学学报,1999,31(3):31-32,28.Han Jun-wei,Yu Li-ming,Zhao Hui,et al.Study of three state controller of seismic simulating shaking table[J].Journal of HarbinInstitute of Technology,1999,31(3):31-32,28.
[16]关广丰.液压驱动六自由度振动试验系统控制策略研究[D].哈尔滨:哈尔滨工业大学机电工程学院,2007.Guan Guang-feng.Control strategy of hydraulically driven6-DOF vibration test system[D].Harbin:School of Mechatronic Engineering,Harbin Institute of Technology,2007.
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