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Design method for resolving modal space controller of hydraulic drive six-degree-of-freedom parallel mechanism

A modal space and design method technology, applied in adaptive control, general control system, control/regulation system, etc., can solve system oscillation, failure to exert system control characteristics, modal decoupling control engineering implementation limitations, etc. question

Inactive Publication Date: 2012-09-12
HARBIN INST OF TECH
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Problems solved by technology

However, since the modal matrix is ​​related to the structural parameters of the parallel mechanism, and the modal matrix calculated by the computer in real time during a large-scale movement, the modal space will switch, which may even cause system oscillation in severe cases.
These problems make the modal decoupling control severely restricted in engineering implementation, and it is far from being able to exert its potential ability to improve the control characteristics of the system.

Method used

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  • Design method for resolving modal space controller of hydraulic drive six-degree-of-freedom parallel mechanism
  • Design method for resolving modal space controller of hydraulic drive six-degree-of-freedom parallel mechanism
  • Design method for resolving modal space controller of hydraulic drive six-degree-of-freedom parallel mechanism

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Experimental program
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Embodiment

[0088] a: Load system parameters, system parameters include three groups:

[0089] Structural parameters of six degrees of freedom parallel mechanism

[0090] r a = 0.56m, r b =1.2m, α=13.4°, β=10.8°, h=0.163m, H=1.64m,

[0091] m=178.6kg, I xx =13.6kg·m 2 , I yy =13.6kg·m 2 , I zz =23.9kg·m 2

[0092] Characteristic parameters of hydraulic actuators

[0093] beta e =7×10 8 Pa, L=0.7m, D=0.063m, d=0.045m.

[0094] Servo Valve Characteristic Parameters

[0095] K aa =40mA / V, K q =1.1225×10 -4 (m 3 / s) A.

[0096] b: According to the structural parameter r of the six-degree-of-freedom parallel mechanism a , r b , α, β, h, m, I xx , I yy , I zz , using the analytical formula provided by the present invention to calculate the modal matrix U, the inverse modal mass matrix According to the characteristic parameter β of the hydraulic actuator e , L, D, d to calculate the hydraulic stiffness matrix K.

[0097] The calculation result of U is as follows:

[0...

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Abstract

The invention provides a design method for resolving a modal space controller of a hydraulic drive six-degree-of-freedom parallel mechanism. A modal matrix is directly calculated according to system structure parameters; a six-degree-of-freedom strong coupling multi-input multi-output system is converted into a six-decoupling single-input single-output system in a modal space by conversion of the modal matrix; and parameters of a dynamic pressure feedback controller in the modal space are designed according to a hydraulic dynamic pressure feedback technology. The problem about coupling of a system is solved, and each decoupled modal space channel has the optimal control performance. The design method is only related to the system structure parameters, so that the application range of a modal decoupling controller is greatly expanded.

Description

technical field [0001] The invention relates to the field of electromechanical and hydraulic servo control, in particular to an analytical design method for a hydraulically driven six-degree-of-freedom parallel mechanism modal space controller based on dynamic pressure feedback. 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 hydraulic parallel mechanism is a closed multi-chain structure composed of six linear hydraulic cylinders, a moving platform and a fixed platform. It mainly realizes the precise control of various given signals in single-degree-of-freedom and multi-degree-of-freedom spaces. Due to the strong nonlinear dynamic characteristics of the system, there is a strong coupling between the degrees of freedom in the system in the physical space. This st...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 田体先姜洪洲何景峰佟志忠
Owner HARBIN INST OF TECH
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