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Method for identifying inertial parameters of six-degree-of-freedom parallel mechanism

A technology of inertial parameters and identification methods, applied in adaptive control, instruments, control/regulation systems, etc., can solve problems affecting control performance, complex filters, and difficult identification of inertial parameters, so as to avoid trajectory design and high identification accuracy , improve the effect of signal-to-noise ratio

Inactive Publication Date: 2012-08-01
HARBIN INST OF TECH
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Problems solved by technology

It mainly realizes the precise control of various given signals in single-degree-of-freedom and multi-degree-of-freedom spaces, and the accuracy of inertial parameters is directly related to the selection of various parameters of the controller, thus affecting its control performance
However, due to the strong nonlinear dynamics of the system, it is very difficult to identify the inertial parameters
In the existing inertial parameter identification methods at home and abroad, there are deficiencies such as the design of the identification trajectory is complicated, the complex filter needs to be designed to obtain the velocity and acceleration signals required for identification, the condition number of the identification matrix needs to be considered, and it is not suitable for general non-classical damping systems.

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  • Method for identifying inertial parameters of six-degree-of-freedom parallel mechanism

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Embodiment Construction

[0017] The present invention is described further below: Table 1 is the identification method mathematical principle, as follows:

[0018]

[0019] The formula ① in the table is the complete dynamics formula of the six-degree-of-freedom parallel mechanism. In the formula ①, M t is the inertial parameter matrix, is the Coriolis force term, B f is the viscous damping coefficient matrix, C f is the Coulomb friction coefficient matrix, is the gravity term, is a symbolic function, For the platform location: s ‾ x = c ‾ β T , Translation c=[x y z] T , Euler angle β=[φθψ] T . For platform speed: x ‾ . = ...

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Abstract

The invention discloses a method for identifying the inertial parameters of a six-degree-of-freedom parallel mechanism, which comprises the following steps of: performing sine excitation with the same frequency respectively in six degree-of-freedom directions, decomposing the pose and the exciting force signal into the Fourier series form by using the least square fit principle, extracting the sine and cosine signal components of the fundamental frequency, and solving a specific linear equation set to obtain the inertial parameter matrix of the parallel mechanism. The method has the advantages of high identification accuracy, simple operation, high automation degree in identification process and small interference by system nonlinear factors (Coriolis force, Coulomb friction force and the like).

Description

technical field [0001] The invention relates to a method for identifying inertial parameters of a six-degree-of-freedom parallel mechanism. Background technique [0002] The six-degree-of-freedom parallel mechanism has been widely used in the fields of aerospace, automobile testing and industrial production due to its high rigidity, large carrying capacity and high precision. The six-degree-of-freedom parallel mechanism is a closed multi-chain structure composed of six linear actuators, a moving platform and a fixed platform. It mainly realizes precise control of various given signals in single-degree-of-freedom and multi-degree-of-freedom spaces, and the accuracy of inertial parameters is directly related to the selection of various parameters of the controller, thereby affecting its control performance. However, due to the strong nonlinear dynamic characteristics of the system, it is very difficult to identify the inertial parameters. In the existing inertial parameter i...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 姜洪洲田体先何景峰佟志忠
Owner HARBIN INST OF TECH
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