带连杆六自由度并联振动台控制方法

发布时间：2018-01-02 22:39

本文关键词：带连杆六自由度并联振动台控制方法　出处：《液压与气动》2017年12期 　论文类型：期刊论文

【摘要】：对于并联运动平台,将液压缸体固定,由轻量化连杆传递运动可降低液压缸运动的惯性力和铰接处摩擦力。以一种带连杆的六自由度并联振动台为研究对象,基于位置正解算法提出带连杆六自由度振动台位姿控制策略。对振动台进行了运动学分析,通过局部坐标变换推导出位置正解计算方法。利用Sim Mechanics建立了带连杆六自由度振动台的动力学模型。结合PI控制器、雅克比矩阵以及正解算法,应用MATLAB/Simulink搭建了完整的闭环控制模型。最后通过阶跃响应与正弦响应仿真验证控制策略的有效性。
[Abstract]:For the parallel motion platform, the hydraulic cylinder block is fixed and the motion transmitted by light weight connecting rod can reduce the inertia force of the hydraulic cylinder motion and the friction force at the hinge. A six-degree-of-freedom parallel shaking table with connecting rod is taken as the research object. Based on the position-forward algorithm, the position and attitude control strategy of the vibration table with six degrees of freedom with connecting rod is proposed, and the kinematics analysis of the shaking table is carried out. The calculation method of position forward solution is deduced by local coordinate transformation. The dynamic model of vibration table with six degrees of freedom with connecting rod is established by using Sim Mechanics, and the Pi controller is combined. The Jacobian matrix and the forward solution algorithm are used to build a complete closed-loop control model. Finally, the effectiveness of the control strategy is verified by the simulation of step response and sinusoidal response.
【作者单位】：大连海事大学交通运输装备与海洋工程学院;
【基金】：国家自然科学基金(51675073) 中央高校基本科研业务费专项资金(3132017019) 大连市高层次人才创新创业项目(2015R064)
【分类号】：TH137
【正文快照】： 引言并联机器人因其高刚度、高精度及高承载力等优点得到了广泛的应用[1]。带连杆并联振动台是并联机器人的一个分支。带连杆并联振动台的液压缸固定于基体,可有效解决液压缸缸体在高频振动时可能产生的横向振动,提高机构的可靠性;另外采用轻量连杆可有效减少驱动力用于克服

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