6自由度电液振动台控制策略研究
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摘要
为提高6自由度电液振动台的控制精度,在传统6自由度控制回路中增加两路扭曲控制回路,采用扭曲控制策略控制平台振动。基于扭曲控制策略,对传统压力镇定控制器进行改进,将相互关联的8个参数缩减为2个相互独立的参数。正弦振动试验结果表明,采用扭曲控制策略能够明显改善振动台系统低频段的加速度均匀度和横向分量指标,改进后的压力镇定控制器能够有效削弱系统中各液压缸之间的内力。
Torsion control strategy of a 6-DOF(degree-of-freedom)hydraulic shaker was presented to improve the control precision of the system.Two torsion control loops were added to the original 6-DOF control loops.The force balance controller was improved based on the torsion control strategy.The number of the controller parameters was reduced from eight to two,and the two parameters were independent and could be adjusted individually.Sine vibration tests were run in one 6-DOF hydraulic shaker with the new algorithm.Test results showed that the torsion control strategy is favorable to improve the performance indices of acceleration evenness degree and acceleration transverse components in the lower-frequency band of the system;the improved force balance controller can reduce the inner forces among the eight cylinders effectively.
Torsion control strategy of a 6-DOF(degree-of-freedom)hydraulic shaker was presented to improve the control precision of the system.Two torsion control loops were added to the original 6-DOF control loops.The force balance controller was improved based on the torsion control strategy.The number of the controller parameters was reduced from eight to two,and the two parameters were independent and could be adjusted individually.Sine vibration tests were run in one 6-DOF hydraulic shaker with the new algorithm.Test results showed that the torsion control strategy is favorable to improve the performance indices of acceleration evenness degree and acceleration transverse components in the lower-frequency band of the system;the improved force balance controller can reduce the inner forces among the eight cylinders effectively.
引文
[1]陈章位,于慧君.振动控制技术现状与进展[J].振动与冲击,2009,28(3):73-77,86.
[2]吴家驹.多维振动环境试验控制策略的分析基础[J].强度与环境,2008,35(4):1-6.
[3]韩强,杜修力,刘晶波,等.多维地震作用下隔震桥梁地震反应(I)——模型结构振动台试验[J].振动与冲击,2008,27(9):59-65.
[4]严侠,牛宝良,黎启胜.多维波形再现控制系统设计与开发[J].振动与冲击,2007,26(9):162-164,178.
[5]杨志东,丛大成,韩俊伟,等.基于扩展型准牛顿优化算法的单轴正弦扫频振动控制[J].振动与冲击,2008,27(3):99-103,112.
[6]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.
[7]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,2007.
[8]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):21-23,28.
[9]MTS Systems Corporation,Minneapolis,Minn.Degree of Freedom Digital Control System for A Hydraulic Press[P].United States,5068779.1991-11-26.
[10]Underwood M A,Keller T.Rectangular Control of Multi-Shaker Systems:Theory and Some Practical Results[J].Journal of the IEST.2004,47:80-86.
[11]Underwood M A,Keller T.Applying Coordinate Transforma-tions to Multi Degree of Freedom Shaker Control[J].Sound and Vibration,2006,40(1):22-27.
[12]哈尔滨工业大学电液伺服仿真及试验系统研究所.三轴六自由度液压振动试验系统研究工作总结报告[R].哈尔滨:哈尔滨工业大学,2006.
[13]JB/T8288-2001.中华人民共和国机械行业标准[S].液压振动台.北京:中国机械工业联合会,2001.
[2]吴家驹.多维振动环境试验控制策略的分析基础[J].强度与环境,2008,35(4):1-6.
[3]韩强,杜修力,刘晶波,等.多维地震作用下隔震桥梁地震反应(I)——模型结构振动台试验[J].振动与冲击,2008,27(9):59-65.
[4]严侠,牛宝良,黎启胜.多维波形再现控制系统设计与开发[J].振动与冲击,2007,26(9):162-164,178.
[5]杨志东,丛大成,韩俊伟,等.基于扩展型准牛顿优化算法的单轴正弦扫频振动控制[J].振动与冲击,2008,27(3):99-103,112.
[6]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.
[7]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,2007.
[8]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):21-23,28.
[9]MTS Systems Corporation,Minneapolis,Minn.Degree of Freedom Digital Control System for A Hydraulic Press[P].United States,5068779.1991-11-26.
[10]Underwood M A,Keller T.Rectangular Control of Multi-Shaker Systems:Theory and Some Practical Results[J].Journal of the IEST.2004,47:80-86.
[11]Underwood M A,Keller T.Applying Coordinate Transforma-tions to Multi Degree of Freedom Shaker Control[J].Sound and Vibration,2006,40(1):22-27.
[12]哈尔滨工业大学电液伺服仿真及试验系统研究所.三轴六自由度液压振动试验系统研究工作总结报告[R].哈尔滨:哈尔滨工业大学,2006.
[13]JB/T8288-2001.中华人民共和国机械行业标准[S].液压振动台.北京:中国机械工业联合会,2001.
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