冗余驱动电液振动台运动学分析及内力协调控制方法研究

发布时间：2018-03-26 07:25

本文选题：电液振动台　切入点：冗余驱动　出处：《大连海事大学》2017年硕士论文

【摘要】：振动环境模拟实验是现代工程技术中一种基本的实验手段,利用模拟平台模拟试件在使用或运输过程中受到的振动环境来检验产品性能,为试件性能测试和技术改进提供重要的实验依据。两轴冗余驱动电液振动台采用冗余驱动方式,可以提供较大的驱动力,提高系统的加速度均匀度,而且可以使被试件受力更加均匀。但是目前对于冗余驱动电液振动台的控制策略多采用传统矩阵控制策略,且由于冗余驱动造成各个激振器间较大的内力耦合,影响系统性能。为此,本文的主要工作集中在以下几个方面:以Adams软件对振动台机械系统进行建模,采用Matlab/Simulink建立振动台伺服控制系统模型,运用机电联合仿真的方法对冗余驱动电液振动台进行建模仿真。为提高两自由度冗余振动台在大位姿条件下的控制精度,提出基于运动学分析构建振动台位姿控制系统,利用运动学正解及雅可比矩阵进行液压缸信号与自由度信号间的变换。基于Adams平台建立冗余振动台模型,分析在大角度运动时,位姿控制方法与传统矩阵控制方法的偏差,得到基于运动学分析的控制策略在大位姿时控制精度更高。提出各缸间冗余力大小的计算方法,为实现对冗余力的有效控制,提出内力协调控制策略,包括力矩阵控制策略、压力镇定控制策略。通过联合仿真及试验验证两种控制策略的有效性。试验结果表明,相对于传统矩阵控制策略,基于运动学分析的控制策略可以提高大位姿情况下振动台的控制精度。力矩阵控制策略、压力镇定控制策略均能有效减小内力。
[Abstract]:The vibration environment simulation experiment is a basic experimental means in modern engineering technology. Using the simulation platform to simulate the vibration environment of the specimen in the process of use or transportation to test the performance of the product. This paper provides an important experimental basis for the performance test and technical improvement of the specimen. The dual axis redundant drive electro-hydraulic vibration table can provide a large driving force and improve the acceleration uniformity of the system by adopting redundant driving mode. But at present, the traditional matrix control strategy is used for the redundant electro-hydraulic vibration table, and the internal force coupling between the exciters is caused by the redundant drive. Therefore, the main work of this paper is focused on the following aspects: modeling the vibration table mechanical system with Adams software, using Matlab/Simulink to establish the vibration table servo control system model, In order to improve the control accuracy of the redundant vibration table with two degrees of freedom under the condition of large position and pose, a position and attitude control system based on kinematics analysis is proposed. The kinematics forward solution and Jacobian matrix are used to transform the signal between the hydraulic cylinder signal and the degree of freedom signal. Based on the Adams platform, the redundant shaking table model is established, and the deviation between the position and attitude control method and the traditional matrix control method is analyzed. It is concluded that the control strategy based on kinematics analysis is more accurate when the position is large. In order to realize the effective control of redundant force, a coordinated control strategy of internal force, including the force matrix control strategy, is proposed to calculate the redundant force between cylinders. The effectiveness of the two control strategies is verified by joint simulation and experiment. The experimental results show that compared with the traditional matrix control strategy, the proposed control strategy is more effective than the traditional one. The control strategy based on kinematics analysis can improve the control precision of the shaking table under the condition of large position and pose, and the force matrix control strategy and the pressure stabilization control strategy can effectively reduce the internal force.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TB534.2

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