【摘要】 为提高6自由度液压振动台的控制精度,提出了一种基于运动学分析的振动台控制策略。依据机构学原理描述振动台的结构并进行运动学分析和计算,利用位姿正解算法及雅克比矩阵分别代替传统控制策略中的位置自由度合成及分解矩阵,并给出了基于运动学分析的6自由度液压振动台控制器结构。正弦振动试验结果表明,基于运动学分析的控制策略能够显著削弱平台在低频大位移振动时的牵连运动,提高系统的加速度均匀度和横向分量指标,可明显改善振动台系统低频段的控制精度。更多还原

【Abstract】 Kinematic analysis and the new control structure of a 6-degree-offreedom(DOF) hydraulic vibration table were presented to improve the control precision of the system.The vibration table structure was introduced and analyzed.The forward solution algorithm and the Jacobian matrix were developed to replace the DOF composition and decomposition matrices in conventional control method.The new control structure of 6 DOF hydraulic vibration table was presented based on kinematic analysis.Sine vibration tests were conducted in one hydraulic vibration table.The results show that the control strategy can markedly weaken the convected motion of the table under the condition of low frequency,big displacement vibrations,raise the degree of acceleration evenness and the transverse component indices,and improve the control precision of the table within the lowfrequency band.更多还原