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Road spectrum reproduction control method for six freedom-degree motion simulator

A technology of motion simulator and control method, applied in the direction of adaptive control, simulator, general control system, etc., can solve the problems that the six-degree-of-freedom motion simulator cannot accurately reproduce the expected road spectrum or waveform, and affect the test effect, etc. , to achieve the effect of expanding application fields and functions and increasing bandwidth

Inactive Publication Date: 2007-07-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the limitation of the system bandwidth, the six-degree-of-freedom motion simulator cannot accurately reproduce the expected road spectrum or waveform within its bandwidth, which affects the effect of the test
Therefore, new control methods and controllers must be used to complete high-precision road spectrum reproduction, but there is no corresponding technology to achieve this goal

Method used

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  • Road spectrum reproduction control method for six freedom-degree motion simulator
  • Road spectrum reproduction control method for six freedom-degree motion simulator
  • Road spectrum reproduction control method for six freedom-degree motion simulator

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Embodiment Construction

[0032] Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:

[0033] Referring to Figure 1, the six-degree-of-freedom motion simulator includes hydraulic cylinders, servo valves, motion platforms, upper connecting hinges, lower connecting hinges and related hydraulic piping systems.

[0034] In conjunction with FIG. 3, this embodiment includes the following steps that can be implemented by a computer:

[0035] Set the reference signal step, input the six-degree-of-freedom motion simulator pose control reference signal, multiply the reference signal by the inverse G of the pose control mode transfer function G(s) -1 (s) Obtain the drive signal, output the drive signal and send it to the kinematics inverse solution step;

[0036] In the kinematics inverse solution step, the driving signal sent by the step of setting the reference signal is calculated through kinematics inverse solution to calculate the position cont...

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Abstract

The invention relates to a path spectrum recurrence and system frequency expansion control method through effective compensation to the hex freedom movement simulator. It starts with setting parameter signal, movement reverse interpretation, drive location closed loop control, cinematic positive interpretation, and location control transmission function off line identification. It adds system identification and iteration control unit to the hex freedom movement simulator input end, realizing the goal. Within the working frequency scope, this method can achieve the similarity of the reference wave shape and response wave shape bigger than 95%.

Description

(1) Technical field [0001] The invention relates to the control field of a six-degree-of-freedom motion simulator, in particular to a control method for road spectrum reproduction of a six-degree-of-freedom motion simulator. (2) Technical background [0002] The six-degree-of-freedom motion simulator is a large-scale electromechanical device used for environmental test simulation, which can realize environmental simulation under various conditions such as sea conditions, road conditions, and flight attitudes. The six-degree-of-freedom motion simulator includes: hydraulic cylinders, servo valves, motion platforms, upper and lower connecting hinges and related hydraulic pipeline systems, etc., which can complete corresponding motions under the drive and control of hydraulic energy systems and control systems. However, due to the limitation of system bandwidth, the six-degree-of-freedom motion simulator cannot accurately reproduce the expected road spectrum or waveform within i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G09B9/00
Inventor 韩俊伟姜洪洲丛大成张辉叶正茂靳军何景峰黄其涛郑淑涛赵新通代小林关广丰
Owner HARBIN INST OF TECH