CN100514229C - Complex control method for six freedom-degree motion simulator - Google Patents
Complex control method for six freedom-degree motion simulator Download PDFInfo
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- CN100514229C CN100514229C CNB2006101511508A CN200610151150A CN100514229C CN 100514229 C CN100514229 C CN 100514229C CN B2006101511508 A CNB2006101511508 A CN B2006101511508A CN 200610151150 A CN200610151150 A CN 200610151150A CN 100514229 C CN100514229 C CN 100514229C
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Abstract
The invention relates to a hex freedom degree movement analog sine signal tracking width control technique. It can be realized through setting position procedure, inverse interpretation procedure, closed loop control procedure, positive interpretation procedure, position feedback procedure and output procedure. It adds width controller in the hex freedom degree movement simulator control system, through several times iterative calculation to make the output sine signal accurately tracking the given sine signal, realizing hex freedom movement simulator high precision sine wave recurrence.
Description
(1) technical field
The present invention relates to the control field, particularly a kind of width of cloth phase control technology that can improve six freedom-degree motion simulator sinusoidal signal tracking accuracy.
(2) technical background
Six freedom-degree motion simulator is a kind of giant mechanical and electrical equipment that is used for the environmental test simulation, can realize the environmental simulation under the multiple conditions such as sea situation, road conditions and flight attitude.Six freedom-degree motion simulator mainly comprises hydraulic cylinder, servo-valve, and motion platform, parts such as upper and lower connection hinge and related fluid hydraulic pipe can be finished corresponding motion under the driving of hydraulic energy system and control system and control action.Yet owing to the restriction of system's frequency range, the output of six freedom-degree motion simulator exists amplitude attenuation and phase lag, influences sinusoidal wave test effect in the sine wave test.Therefore, in order to realize the purpose of the sinusoidal wave reproduction of high precision, must adopt new control mode and controller that signal is carried out tracking Control, and also not have corresponding method effectively to deal with problems in the market.
(3) summary of the invention
The sinusoidal signal that the object of the present invention is to provide and a kind ofly can effectively control the coordination of multipath hydraulic servo-drive system, can make system's output exactly the sinusoidal signal of tracing preset to be implemented in the complex control method for six freedom-degree motion simulator of the purpose of finishing the sinusoidal wave reproduction of high precision on the six freedom-degree motion simulator.
The object of the present invention is achieved like this: it comprises the step that following computer system can realize:
Set the pose step, the setting pose data of input six freedom-degree motion simulator are carried out the width of cloth by width of cloth phase controller module to data and are controlled mutually, try to achieve correction factor w
0And w
1, output is set the pose data and is sent into the anti-step of separating;
The anti-step of separating is carried out inverse kinematic with the setting pose data of setting the output of pose step, calculates the cylinder long data and exports the cylinder long data to the closed-loop control step through inverse kinematic;
The closed-loop control step is exported the cylinder long data is given six freedom-degree motion simulator as drive location hydraulic cylinder servo controller with the anti-cylinder long data that calculates of separating through the drive location closed-loop control closed loop of six freedom-degree motion simulator;
The normal solution step is sent into the actual cylinder long data by six freedom-degree motion simulator, and the actual cylinder long data is carried out the attitude signal that the real time kinematics normal solution resolves six freedom-degree motion simulator, and output pose data are given the pose feedback step;
The pose feedback step is set the amplitude and the phase place of pose data with the pose signal of normal solution step output by the least-squares algorithm correction, by adjusting correction factor w
0And w
1Regulator obtains correction factor and revises and set the pose data, gives the output step with revised setting pose data;
The output step is carried out inverse kinematic with revised pose data, calculates the long control signal of cylinder and exports to drive location closed-loop control closed loop output drive signal to six freedom-degree motion simulator.
The present invention also has some technical characterictics like this:
1, described width of cloth phase controller module comprises phase shift controller, w
0And w
1Regulator, processing procedure is: the setting pose data that will import and compare through the pose feedback signal that the real time kinematics normal solution obtains, calculation deviation, error is sent into the E nerve network controller of isomorphism, the output network error is also calculated next weights constantly, and the weights that obtain are obtained correction factor w with setting the pose data and calculating adjustment through the pose data that phase shift controller obtains
0And w
1Value, output correction factor w
0And w
1
Design philosophy of the present invention is as follows: from the sinusoidal response of system as can be seen, for the input signal that frequency is mouthful, output signal is compared with input signal, and phase lag is a fixing value, makes input signal be:
u＝A
rsinωt
Then the output of system is expressed as:
y＝A
ysin(ωt-φ)
Therefore, shift to an earlier date Φ, just can eliminate the phase lag of system as long as make input signal obtain a respective phase, even the input signal of system becomes:
u＝A
rsin(ωt+φ)＝A
rw
0sinωt+A
rw
1cosωt
For a fixing Φ value, pair of corresponding w is arranged all
0And w
1Value, for sampling system, can be by corrective network of design, the input of network is respectively command signal sinusoidal component u and the cosine component of 90 ° of generations of this sinusoidal component phase shift, give weights respectively for two inputs, they and promptly be compensated input signal u '.This has just constituted a linear neural network, and the principle of this network as shown in Figure 2.
The present invention proposes a kind of width of cloth phase control method of simple possible, amplitude of its input sinusoidal signal by promptly adjusting the six freedom-degree motion simulator servo-control system and phase place can compensate effectively because the influence of six freedom-degree motion simulator frequency characteristic offset of sinusoidal motion reproducibility, and improve the sinusoidal wave reproducibility of six freedom-degree motion simulator.
(4) description of drawings
Fig. 1 is the six freedom-degree motion simulator composition diagram;
Fig. 2 is a width of cloth phase control method schematic diagram of the present invention;
Fig. 3 is the anti-process flow diagram of separating of pose;
Fig. 4 is a pose normal solution process flow diagram;
Fig. 5 does not have a facies-controlled sinusoidal experiments curve;
Fig. 6 has a facies-controlled sinusoidal experiments curve;
Fig. 7 has a facies-controlled six freedom-degree motion simulator process flow diagram;
Fig. 8 is a width of cloth phase controller process flow diagram.
(5) embodiment
Further the present invention will be described below in conjunction with drawings and Examples:
In conjunction with Fig. 1, six freedom-degree motion simulator comprises: hydraulic cylinder, servo-valve, servo actuator 3, motion platform 1, go up hinge component 2, compositions such as hinge component 4 and related fluid hydraulic pipe down, finish corresponding motion under the driving of hydraulic energy system and control system and control action.
In conjunction with Fig. 2, present embodiment comprises the step that following computer system can realize:
Set the pose step, the setting pose data of input six freedom-degree motion simulator are carried out the width of cloth by width of cloth phase controller module to data and are controlled mutually, try to achieve correction factor w
0And w
1, output is set the pose data and is sent into the anti-step of separating;
The anti-step of separating is carried out inverse kinematic with the setting pose data of setting the output of pose step, calculates the cylinder long data and exports the cylinder long data to the closed-loop control step through inverse kinematic;
The closed-loop control step is exported the cylinder long data is given six freedom-degree motion simulator as drive location hydraulic cylinder servo controller with the anti-cylinder long data that calculates of separating through the drive location closed-loop control closed loop of six freedom-degree motion simulator;
The normal solution step is sent into the actual cylinder long data by six freedom-degree motion simulator, and the actual cylinder long data is carried out the attitude signal that the real time kinematics normal solution resolves six freedom-degree motion simulator, and output pose data are given the pose feedback step;
The pose feedback step is set the amplitude and the phase place of pose data with the pose signal of normal solution step output by the least-squares algorithm correction, by adjusting correction factor w
0And w
1Regulator obtains correction factor and revises and set the pose data, gives the output step with revised setting pose data;
The output step is carried out inverse kinematic with revised pose data, calculates the long control signal of cylinder and exports to drive location closed-loop control closed loop output drive signal to six freedom-degree motion simulator.
In conjunction with Fig. 3-4, to find the solution cylinder long for the attitude data of input six freedom-degree motion simulator for the inverse kinematic process, comprise that Eulerian angle calculating, homogeneous coordinate transformation, spatial kinetics calculate 3 parts, the attitude signal of the six freedom-degree motion simulator of input calculates through Eulerian angle and makes up the homogeneous transformation matrix, separates the long signal of the cylinder that obtains hydraulic cylinder through SPATIAL CALCULATION again; And the forward kinematics solution process is the position data of six actual hydraulic cylinders of input, data are imported hinge spacing equation set up Nonlinear System of Equations, carry out the secondary Taylor expansion again, launch the position and the attitude data of back iterative six freedom-degree motion simulator turntable.
Present embodiment at first by the attitude data of given six freedom-degree motion simulator, after overcorrect control, is imported the anti-module of separating of six freedom-degree motion simulator, and the cylinder length after counter the separating is as the output of drive location closed loop.Actual cylinder long letter breath resolves the attitude signal of six freedom-degree motion simulator through real time kinematics normal solution module, and amplitude and the phase place by the given signal of least-squares algorithm correction again is with this input de-energisation exercise test platform as the Pose Control ring.
As seen the critical process in width of cloth phase control technology is:
1, Real Time Kinematic normal solution, and then obtain the testing table attitude misalignment;
2, utilize least-squares algorithm, revise the amplitude and the phase place of given signal, and then excitation system.
Use the width of cloth to control front and back mutually, the tracking situation of six freedom-degree motion simulator offset of sinusoidal signal is shown in Fig. 5-6.
In conjunction with Fig. 7, width of cloth phase controller module comprises phase shift controller, w
0And w
1Regulator.Processing procedure is: the setting pose data that will import and the pose feedback signal that obtains through real time kinematics normal solution module compare, calculation deviation, error is sent into the E nerve network controller module of isomorphism, the output network error is also calculated next weights constantly, and the weights that obtain are obtained correction factor w with setting the pose data and calculating adjustment through the pose data that phase shift controller obtains
0And w
1Value, the output correction factor.
Therefore, computer system is according to given signal of sine and the attitude feedback signal that obtains through kinematics position normal solution, calculation deviation, through non-linear least square, through after the ADLINE neural network of isomorphism, this error just embodies in network error, and calculates next weights constantly, implements the ground adjustment and calculates correction factor w
0And w
1Value, and produce new drive signal, be connected with servo-valve control cylinder device with driver output control signal through inverse kinematic, drive six freedom-degree motion simulator and realize skimulated motion, reduce the variation of error trend, disappear until error.Weight w
0And w
1Also tend towards stability, and make setting signal and output quantity reach consistent, thereby realize the coordination of six freedom-degree motion simulator.
Experiment showed, correction factor w
0And w
1Through behind 3～4 iterative compensations, the sinusoidal signal of six freedom-degree motion simulator output can be with higher precision tracing preset signal.Amplitude attenuation is better than 5% in system's frequency range scope, and phase lag is better than 5 °.
In conjunction with Fig. 2-8, the attitude signal of six freedom-degree motion simulator calculates through Eulerian angle and makes up the homogeneous transformation matrix, separating the long signal of the cylinder that obtains six hydraulic cylinders through SPATIAL CALCULATION, be used for the given information of position closed loop of six cylinders, realize the six degree of freedom attitude motion.And the forward kinematics solution module is under the situation of the position of known six hydraulic cylinders, finds the solution the position and the attitude of turntable.
Claims (2)
1, a kind of complex control method for six freedom-degree motion simulator is characterized in that it comprises the step that following computing machine can be realized:
Set the pose step,, by the width of cloth phase controller module data are carried out the width of cloth and control mutually, try to achieve correction factor w the setting pose data of the six freedom-degree motion simulator of input
0And w
1, output is set the pose data and is sent into the anti-step of separating;
The anti-step of separating is carried out inverse kinematic with the setting pose data of setting the output of pose step, calculates the cylinder long data and exports the cylinder long data to the closed-loop control step through inverse kinematic;
The closed-loop control step is exported the cylinder long data with the cylinder long data that inverse kinematic calculates through the drive location closed-loop control of six freedom-degree motion simulator, and the cylinder long data is given the hydraulic cylinder servo controller of six freedom-degree motion simulator as drive location;
The normal solution step is sent into the actual cylinder long data by six freedom-degree motion simulator, and the actual cylinder long data is carried out the attitude signal that the real time kinematics normal solution resolves six freedom-degree motion simulator, and the output attitude signal is given the pose feedback step;
The pose feedback step is set the amplitude and the phase place of pose data with the attitude signal of normal solution step output by the least-squares algorithm correction, by adjusting correction factor w
0And w
1Regulator obtains correction factor and revises and set the pose data, gives the output step with revised setting pose data;
The output step is carried out inverse kinematic with revised setting pose data, calculates the long control signal of cylinder and exports to the drive location closed-loop control, and drive location closed-loop control output drive signal is given six freedom-degree motion simulator.
2, complex control method for six freedom-degree motion simulator according to claim 1 is characterized in that described width of cloth phase controller module comprises phase shift controller, w
0And w
1Regulator, processing procedure is: the setting pose data of six freedom-degree motion simulator of input and the attitude signal that obtains through the real time kinematics normal solution are compared, calculation deviation, error is sent into the E nerve network controller of isomorphism, the output network error is also calculated next weights constantly, and the weights that obtain are obtained correction factor w with setting the pose data and calculating adjustment through the setting pose data that phase shift controller obtains
0And w
1Value, output correction factor w
0And w
1And data are sent into the anti-step of separating.
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| CN100514229C true CN100514229C (en) | 2009-07-15 |
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| CN103170972B (en) * | 2013-01-31 | 2015-01-28 | 哈尔滨工业大学 | Method for controlling overall modal space of six-degree-of-freedom (six-DOF) parallel mechanism to prevent modal transition |
| CN103558079B (en) * | 2013-10-21 | 2015-11-25 | 哈尔滨工业大学 | Based on the multiple degrees of freedom loading method of parallel institution driving force closed loop |
| CN105817030A (en) * | 2016-05-25 | 2016-08-03 | 上海金罡石智能科技有限公司 | Six-freedom-degree racing simulator washout control method |
| CN106339008A (en) * | 2016-11-15 | 2017-01-18 | 哈尔滨工业大学 | Freedom-degree-based six-freedom-degree motion simulator controlling method |
| CN111045438B (en) * | 2019-10-21 | 2023-09-08 | 贵州省水利水电勘测设计研究院 | Shipborne self-stabilizing platform and control system and method thereof |
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