Position control method of six-degree-of-freedom hydraulic moving platform with connection rod

Abstract

The invention discloses a position control method of a six-degree-of-freedom hydraulic moving platform with a connection rod. Through local coordinate transformation, an expression of the center coordinates of a hinge point of a hooke joint under the connection rod is obtained through displacement of a horizontal hydraulic cylinder, a position signal of an upper platform is obtained through the displacement signal of the hydraulic cylinder, a position positive solution algorithm of the six-degree-of-freedom hydraulic moving platform with the connection rod is achieved, and the precision of transformation from six hydraulic cylinder displacement signals to six-degree-of-freedom position signals of the moving platform is improved. By combination of a Jacobian matrix, the position control method of the six-degree-of-freedom hydraulic moving platform with the connection rod is given out, and the control precision of the six-degree-of-freedom hydraulic moving platform with the connection rod is obviously improved. Testing is conducted on an Advantech industrial personal computer IPC-610 with the internal memory being 1G, the operation period is shorter than 0.5 ms, the real-time requirement of a moving control system can be met, and therefore the method can be easily implemented by computer digital control.

Description

technical field [0001] The invention relates to a robot kinematics control method in the mechanical field. Specifically, it is a pose control method of a six-degree-of-freedom hydraulic motion platform with connecting rods. Background technique [0002] Most of the existing six-degree-of-freedom hydraulic motion platforms are directly connected to the upper and lower platforms through the hydraulic cylinder through the hinge. The lower platform is fixed to the ground, and the movement of the upper platform is driven by the telescopic movement of the hydraulic cylinder, thereby simulating the movement of six degrees of freedom. It can be widely used in aerospace, automobile, construction and other fields. With the advancement of science and technology, the requirements for the control accuracy of motion platforms in various fields are getting higher and higher. For the traditional six-degree-of-freedom hydraulic motion platform, the hydraulic cylinder will generate a large...

AI Technical Summary

Problems solved by technology

However, in the existing pose positive solution methods, it is assumed that the lower hinge points of all hydraulic cylinders are stationary.

If the existing pose positive solution method is applied to the six-degree-of-freedom hydraulic motion platform with connecting rods, the control accuracy will be greatly reduced, and the accurate reproduction of the six-degree-of-freedom command signal will not be realized.

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