Posture control method of six-freedom-degree double electro-hydraulic vibrostand array simulation system

Abstract

The invention discloses a posture control method of a six-freedom-degree double electro-hydraulic vibrostand array simulation system. The posture control method comprises the following steps that an input signal and an output signal of a PI controller are obtained; a posture signal yf fed back by the array simulation system is obtained; redundant force s of 10 valve-controlled cylinder mechanismsis obtained; an input signal and an output signal of a PID controller are obtained; the array simulation system is drive to move. According to the posture control method, pressure difference signals of hydraulic cylinders in the 10 valve-controlled cylinder mechanisms are collected, a redundant compensation signal is gained through a freedom degree decomposing matrix, and driving signals of the valve-controlled cylinder mechanisms are adjusted through the redundant force compensation signal, so that the redundant force in the valve-controlled cylinder mechanisms is reduced to be within 15% ofrated oil supply pressure. According to the posture control method, testing is carried out on an Advantech industrial personal computer IPC-610 with the CPU being Intel PD 2.6 G and the internal storage being 1 G, the operation cycle of the algorithm is shorter than 1 ms, and the experimental requirement of the array simulation system can be met.

Description

technical field

[0001] The invention relates to a six-degree-of-freedom dual electro-hydraulic vibration table, in particular to a pose control method of a six-degree-of-freedom dual electro-hydraulic vibration table array simulation system. Background technique

[0002] Electro-hydraulic vibration table is an important equipment for vibration environment simulation, widely used in aerospace, automobile, ship, bridge and civil engineering construction and other fields. With the development of science and technology, the structural size of the test piece is getting larger and larger. It is difficult to achieve the specified motion state to simulate the real vibration environment in the vibration simulation experiment of a single shaking table. The shaking table array system consists of two or more shaking tables, which creates the necessary conditions for the vibration simulation test of long-span structural specimens.

[0003] Most of the array systems are redundant drive ...

Examples

Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings. Such as Figure 1-4 As shown, a pose control method of a six-degree-of-freedom dual electro-hydraulic shaking table array simulation system, the described six-degree-of-freedom dual electro-hydraulic shaking table array simulation system includes a lower platform 19, an upper platform A17, and an upper platform B18 , pier A14, pier B15, bridge plate 16, three horizontal valve control cylinder mechanisms, seven vertical valve control cylinder mechanisms and three reaction walls, the three horizontal valve control cylinder mechanisms are respectively No. 5 Valve-controlled cylinder mechanism No. 5, No. 6 valve-controlled cylinder mechanism 6 and No. 7 valve-controlled cylinder mechanism 7. The seven vertical valve-controlled cylinder mechanisms are respectively No. 1 valve-controlled cylinder mechanism 1 and No. 2 valve-controlled cylinder mechanism 2 , No. 3 valve-contro...

technical field

[0001] The invention relates to a six-degree-of-freedom dual electro-hydraulic vibration table, in particular to a pose control method of a six-degree-of-freedom dual electro-hydraulic vibration table array simulation system. Background technique

[0002] Electro-hydraulic vibration table is an important equipment for vibration environment simulation, widely used in aerospace, automobile, ship, bridge and civil engineering construction and other fields. With the development of science and technology, the structural size of the test piece is getting larger and larger. It is difficult to achieve the specified motion state to simulate the real vibration environment in the vibration simulation experiment of a single shaking table. The shaking table array system consists of two or more shaking tables, which creates the necessary conditions for the vibration simulation test of long-span structural specimens.

[0003] Most of the array systems are redundant drive ...

Examples

Embodiment Construction

[0036] The present invention will be further described below in conjunction with the accompanying drawings. Such as Figure 1-4 As shown, a pose control method of a six-degree-of-freedom dual electro-hydraulic shaking table array simulation system, the described six-degree-of-freedom dual electro-hydraulic shaking table array simulation system includes a lower platform 19, an upper platform A17, and an upper platform B18 , pier A14, pier B15, bridge plate 16, three horizontal valve control cylinder mechanisms, seven vertical valve control cylinder mechanisms and three reaction walls, the three horizontal valve control cylinder mechanisms are respectively No. 5 Valve-controlled cylinder mechanism No. 5, No. 6 valve-controlled cylinder mechanism 6 and No. 7 valve-controlled cylinder mechanism 7. The seven vertical valve-controlled cylinder mechanisms are respectively No. 1 valve-controlled cylinder mechanism 1 and No. 2 valve-controlled cylinder mechanism 2 , No. 3 valve-contro...

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