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Internal force decoupling control method for driving vibration table with redundant 6 freedom

A technology of decoupling control and degrees of freedom, used in vibration testing, hydraulic controllers, measuring devices, etc., and can solve problems such as non-uniqueness

Inactive Publication Date: 2008-06-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The non-uniqueness of this solution makes the system have other motion trends. Under the rigid constraints of the vibration platform, the internal force between the servo actuators is greatly affected by random factors such as load and oil temperature.

Method used

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  • Internal force decoupling control method for driving vibration table with redundant 6 freedom
  • Internal force decoupling control method for driving vibration table with redundant 6 freedom
  • Internal force decoupling control method for driving vibration table with redundant 6 freedom

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Embodiment Construction

[0045] Below in conjunction with accompanying drawing and specific embodiment the present invention will be further described:

[0046] The technical features of this embodiment are as follows: Figures 1-2 are composition diagrams of a vibration table with six degrees of freedom. There are four actuators in the horizontal direction, namely x1, x2, x3, x4; there are four actuators in the vertical direction, respectively z 1 ,z 2 ,z 3 ,z 4 .

[0047] In the three-axis six-degree-of-freedom vibration table shown in Fig. 1-Fig. 2, X 1 and x 2 The distance between the upper hinge points of the two actuators is 2l 1 , Y 1 and Y 2 The distance between the upper hinge points of the two actuators is 2l 2 . The six degrees of freedom acceleration are expressed as: X, Y, Z, R x , R y and R z , then there are:

[0048] X = 0.5 ( ...

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Abstract

The invention provides a controlling method of driving superfluous six degrees of freedom vibration table internal force decoupling, which adopts the torsion freedom degree controlling technology to eliminate or reduce the system internal force caused by zero drift of servo-actuator. On the basis of traditional drive superfluous structure three-axle and six degree of freedom hydraulic vibrating table servo controlling loop, the horizontal distortion movement trend controlling mathematical equation and vertical distortion movement trend controlling equation are added respectively to realize controlling the two superfluous torsion freedom degree limiting and movement, which effectively weakens the internal force coupling among actuators in system and improves the acceleration transverse ratio of vibration table, the acceleration evenness and other indexes.

Description

(1) Technical field [0001] The invention relates to an internal force decoupling control technology of a three-axis six-degree-of-freedom hydraulic vibration table with redundant drive structure. (2) Background technology [0002] The three-axis six-degree-of-freedom hydraulic vibration table is a kind of vibration environment simulation test equipment. As an important test method, it provides a vibration test environment for the development of large-scale equipment and instruments, which can effectively shorten the development cycle and save manpower and financial resources. The composition of the three-axis six-degree-of-freedom hydraulic vibration table with redundant drive structure is shown in Figure 1, including: hydraulic cylinders, servo valves, motion platforms, upper and lower connecting hinges and related hydraulic pipeline systems, etc. Under the driving and control of the system, functions such as six-degree-of-freedom sine frequency sweep, six-degree-of-freedom...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01M7/06G05B11/60
Inventor 韩俊伟丛大成何景峰叶正茂
Owner HARBIN INST OF TECH
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