六自由度运动模拟器振动控制策略_马建明.pdfVIP

DOI :10.13229/ki.jdxbgxb2010.02.054 40 　2 吉林 大学 学 报 (工学 版 ) 　Vol.40　No.2 2010 3 Journal of Jilin University (Engineering and Technology Edition) 　Mar.2010 马建明,何景峰,熊海国,韩俊伟 (哈尔滨工业大学 机电工程学院, 哈尔滨 150001) 　:针对液压驱动六自由度运动模拟器在对振动环境进行模拟 过程中存在幅值衰减和 相位滞后, 难以保证对高频随机信号 复现精度这 一问题, 提出采用基于铰点空间控制与基于 操作空间控制相结合 方式, 在单缸比例加前馈控制 基础上, 通过三状态控制策略来扩展系 统 频宽, 同时在保证系统稳定 前提下达到精确复现输入位置随机信号 目 。实验结果 表明,采用三状态控制策略 六自由度运动模拟器可以将系统输出对输入 位置随机信号在 0.5 ～25 Hz 频率内 功率谱密度误差控制在±3 dB 以内,满足精确复现 性能指标。 :自动控制技术;振动控制策略;三状态控制;六自由度运动模拟器;随机信号;功率谱密 度误差 :TP242.2　　:A 　　:1671-5497(2010)02-0511-06 Vibration control strategy for six-DOF motion simulator MA Jian-ming, HE Jing-feng,XIONG Hai-guo,HAN Jun-wei (S chool of Mechanical and E lectrical Engineering, Harbin Institute of Technology , Harbin 150001, China) Abstract:Using a hydraulically driven six-FOD motion simulator to simulate the vibration environment, there exist amplitude attenuation and phase lag due to the characteristics of closed-loop amplitude and frequency responses of the simulator.Therefore, it is difficult to achieve accurate track and recurrence of high frequency random signals.To solve this problem, a vibration control strategy is proposed, which combines the joint space based and the operation space based control modes together.This strategy adopts the 3-state control technology based on the classic PID together with the feedforward of the single cylinder control method.It can extend the frequency bandwidth of the system and achieve the accurate recurrence under the precondition of system stability .Experiment results show that the control strategy can make the six-DOF motion simulator to track the random signals of the range of 0.5 to 25 Hz and can control the recurrence error accuracy of random signals within ±3 dB.This strat