Disturbance force compensation method for two-degree-of-freedom electro-hydraulic motion platform
A motion platform and compensation method technology, applied in electrical program control, instrument, digital control and other directions, can solve the problems of reducing the control accuracy of the two-degree-of-freedom electro-hydraulic motion platform system, affecting the control accuracy of the electro-hydraulic motion platform system, etc. The effect of controlling precision
Active Publication Date: 2022-04-19
DALIAN MARITIME UNIVERSITY
View PDF1 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
The control accuracy of the two-degree-of-freedom electro-hydraulic motion platform system is greatly reduced due to interference factors such as foundation elasticity and flexible connection, as well as the zero deviation of the servo valve.
Taking the movement of the electro-hydraulic motion platform along the roll degree of freedom as an example, the analysis shows that when the traditional control method is adopted, the time-domain peak error between the displacement output signal of the roll degree of freedom and the displacement reference signal is about 10%, which seriously affects the electro-hydraulic motion platform. Control accuracy of motion platform system
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0034] The present invention will be further described below in conjunction with the accompanying drawings. Such as Figure 1-3 As shown, a method for compensating disturbance force of a two-degree-of-freedom electro-hydraulic motion platform, the two-degree-of-freedom electro-hydraulic motion platform includes two vertical valve control cylinder mechanisms, a large Hooke hinge 4, a support 3, and an upper platform 5 and lower platform 6; the two vertical valve-controlled cylinder mechanisms are No. 1 valve-controlled cylinder mechanism 1 and No. 2 valve-controlled cylinder mechanism 2; the No. 1 valve-controlled cylinder mechanism 1 and No. 2 valve-controlled cylinder mechanism The lower end of the cylinder mechanism 2 is connected to the lower platform 6 through respective spherical hinges, and the upper end is connected to the upper platform 5 through respective spherical hinges respectively, and the upper platform 5 is connected to the support 3 through a large Hooke hinge...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a disturbance force compensation method for a two-degree-of-freedom electro-hydraulic motion platform. The disturbance force compensation method comprises the following steps that a two-degree-of-freedom displacement reference signal of the electro-hydraulic motion platform is defined as Q0; the signal Q0 is left multiplied by the matrix J, and an output signal is recorded as rd; taking rd as an input signal of a reference signal generator module, and recording an output signal as ra; ra is used as an input signal of a first integrator module, and an output signal is recorded as rv; taking rv as an input signal of a second integrator module, and recording an output signal as rx; calculating an output signal u of the compensation controller module; and an output signal u of the compensation controller module serves as a driving signal of the two valve-controlled cylinder mechanisms and is input into the two valve-controlled cylinder mechanisms to drive the two-degree-of-freedom electro-hydraulic motion platform to move. According to the method, the time domain peak error of the displacement output signal and the displacement reference signal of the rolling freedom degree of the two-freedom-degree electro-hydraulic motion platform can be reduced to be within 3% from 10% of a traditional method, and the control precision of the two-freedom-degree electro-hydraulic motion platform system is obviously improved.
Description
technical field [0001] The invention relates to a control technology of a two-degree-of-freedom electro-hydraulic motion platform, in particular to a method for compensating disturbance force of a two-degree-of-freedom electro-hydraulic motion platform. Background technique [0002] The multi-degree-of-freedom electro-hydraulic motion platform is widely used in motion simulation, parallel machine tools and other fields by simulating the motion of multiple degrees of freedom. The multi-degree-of-freedom electro-hydraulic motion platform can simulate the real motion environment, and is not limited by the site and weather conditions, which saves costs while ensuring the safety of users. With the advancement of science and technology, the application scenarios of multi-degree-of-freedom motion platforms continue to expand and deepen, and the requirements for the control accuracy of motion platforms in various fields are getting higher and higher. [0003] The two-degree-of-free...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G05B19/414
CPCG05B19/4142G05B2219/34013
Inventor 关广丰范大莽熊伟王海涛马文琦
Owner DALIAN MARITIME UNIVERSITY