冗余驱动液驱振动台台阵系统内力分析及其抑制方法研究

发布时间：2018-10-16 16:27

【摘要】：冗余驱动振动台台阵系统误差不仅会造成单个振动台内力,也会使振动台之间产生台阵内力,这会减小系统的净出力,甚至损坏试件。首先应用冗余驱动并联机构动力学原理,分析冗余驱动振动台台阵系统内力的形成机理;建立台阵系统的内力耦合模型,推导系统的机械安装误差、位移测量误差和伺服阀零偏三种主要误差因素与振动台内力和台阵内力的数学关系式,进而定量地分析上述误差对系统内力的影响机理。然后结合动力学关系得到振动台的内力合成矩阵和自由度广义力合成矩阵,并根据系统内力的形成机理和影响机理,分别设计了比例-积分控制器对振动台内力和台阵内力进行抑制。最后,利用Sim Mechanics软件建立冗余振动台台阵系统动力学模型,结合Simulink软件建立其控制系统模型并进行联合仿真验证。仿真结果表明:该方法对台阵系统内力影响机理分析正确和提出的内力抑制方法能够有效地消除系统内力。
[Abstract]:The system error of redundant drive vibration table array will not only cause the internal force of a single shaking table, but also cause the internal force between the vibration table, which will reduce the net output force of the system and even damage the specimen. Firstly, the dynamic principle of redundant drive parallel mechanism is applied to analyze the forming mechanism of internal force of redundant drive vibration array system, and the coupling model of internal force of array system is established, and the mechanical installation error of the system is deduced. Three main error factors, displacement measurement error and servo valve zero deviation, are related to the internal force of the shaking table and the internal force of the array, and the influence mechanism of the above errors on the internal force of the system is analyzed quantitatively. Then the internal force synthesis matrix and the degree of freedom generalized force synthesis matrix are obtained according to the dynamic relation, and according to the formation mechanism and the influence mechanism of the system internal force, the internal force synthesis matrix and the degree of freedom generalized force synthesis matrix are obtained. A proportional-integral controller is designed to suppress the internal force of the shaking table and the internal force of the array respectively. Finally, the dynamic model of redundant vibration array system is established by using Sim Mechanics software, and the control system model is established with Simulink software. The simulation results show that the mechanism of the influence of this method on the internal force of the array system is correct and the proposed internal force suppression method can effectively eliminate the internal force of the system.
【作者单位】：哈尔滨工业大学机电工程学院;
【基金】：国家自然科学基金(51205077;51305095)
【分类号】：P315.8

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