A method for eliminating redundant force conflicts in statically indeterminate systems

By constructing rigid body posture decomposition and synthesis factors in the hyperstatic system, generating control signals, and eliminating redundant forces, the system instability problem caused by inconsistent actuator accuracy and errors is solved, achieving higher control accuracy and stability.

CN119847115BActive Publication Date: 2025-10-03HARBIN INST OF TECH
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Patent Information

Application Number
CN202411965491.3
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-12-30
Publication Date
2025-10-03
Estimated Expiration
2044-12-30

AI Technical Summary

Technical Problem

In existing hyperstatic systems, due to inconsistent actuator precision and machining and assembly errors, excess forces are generated, affecting the system control accuracy and stability. Traditional methods are difficult to completely eliminate these excess forces.

Method used

A hyperstatic system is constructed, including a conventional rigid body position loop and an excess force control loop. By calculating the rigid body posture decomposition factors and synthesis factors, position correction control signals and position loop control signals are generated, and the excitation system is superimposed to eliminate excess forces.

Benefits of technology

It effectively eliminates oscillation and noise caused by excess force, improves system response stability and control accuracy, ensures smooth operation of the system, and provides sufficient static output.

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Abstract

A method for eliminating redundant force disputes in an over-determined system relates to the field of automatic control technology. It solves the problems of poor control system accuracy, high noise, and low static output caused by redundant force disputes in existing over-determined systems. The method includes: constructing an over-determined system, wherein the over-determined system includes: a conventional rigid body position loop and a redundant force control loop; obtaining a rigid body posture decomposition factor according to the over-determined system; calculating a rigid body posture synthesis factor according to the rigid body posture decomposition factor; calculating a deformation posture decomposition factor according to the rigid body posture synthesis factor; generating a position correction control signal according to the redundant force controller and the deformation posture decomposition factor; generating a position loop control signal according to the posture controller and the rigid body posture decomposition factor; superimposing the position correction control signal and the position loop control signal as the input signal to excite the system, thereby completing the elimination of redundant force disputes. It is applied to the control of over-determined systems in ground test equipment in the fields of transportation, aerospace, civil engineering, etc.
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