CN101196429A - Internal force decoupling control method for driving vibration table with redundant 6 freedom - Google Patents

Internal force decoupling control method for driving vibration table with redundant 6 freedom Download PDF

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CN101196429A
CN101196429A CNA2007101447667A CN200710144766A CN101196429A CN 101196429 A CN101196429 A CN 101196429A CN A2007101447667 A CNA2007101447667 A CN A2007101447667A CN 200710144766 A CN200710144766 A CN 200710144766A CN 101196429 A CN101196429 A CN 101196429A
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freedom
degree
acceleration
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internal force
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CN101196429B (en
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韩俊伟
丛大成
何景峰
叶正茂
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Harbin Institute of Technology
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Abstract

The invention provides a controlling method of driving superfluous six degrees of freedom vibration table internal force decoupling, which adopts the torsion freedom degree controlling technology to eliminate or reduce the system internal force caused by zero drift of servo-actuator. On the basis of traditional drive superfluous structure three-axle and six degree of freedom hydraulic vibrating table servo controlling loop, the horizontal distortion movement trend controlling mathematical equation and vertical distortion movement trend controlling equation are added respectively to realize controlling the two superfluous torsion freedom degree limiting and movement, which effectively weakens the internal force coupling among actuators in system and improves the acceleration transverse ratio of vibration table, the acceleration evenness and other indexes.

Description

Drive the vibration table with redundant 6 freedom internal force decoupling control method
(1) technical field
The present invention relates to a kind of driving redundancy structure axis six-freedom hydraulic vibration table internal force decoupling zero control technology.
(2) background technology
Axis six-freedom hydraulic vibration table is an a kind of vibration environment simulation test equipment, provides the vibration test environment as important means of testing for Large-Scale Equipment and instrument development, can shorten the lead time effectively, saves manpower and financial resources consumption.Redundant drive structure axis six-freedom hydraulic vibration table is formed as shown in Figure 1, comprise: hydraulic cylinder, servo-valve, motion platform, upper and lower connection hinge and related fluid hydraulic pipe etc., under the driving of hydraulic energy system and control system and control action, realize six degree of freedom sine sweep, six degree of freedom at random, functions such as six degree of freedom surge waveform and the reproduction of six degree of freedom random waveform, axis six-freedom hydraulic vibration table has eight hydraulic servo actuator, is to drive redundant system from the theory of mechanisms angle.Tradition shaking table servo-control system all adopts six degree of freedom control strategy control platform motion, because the six-freedom degree equation contains eight unknown drive amount, so solution of equations is not unique.There is other movement tendency in this not uniqueness system that makes that separates, causes the internal force between each servo actuator to be subjected to enchancement factors such as load and oily temperature to influence bigger under the shaking platform rigid constraint condition.Therefore, must adopt the internal force decoupling zero between the new control strategy realization actuator, improve the performance index of system.
(3) summary of the invention
The object of the present invention is to provide a kind of simple possible, internal force between each actuator coupling in the impair system effectively, the acceleration that improves shaking table system laterally than with the driving redundancy structure axis six-freedom hydraulic vibration table drive system internal force decoupling method of index such as acceleration uniformity coefficient.
The object of the present invention is achieved like this:
It comprises the step that following computer program can be realized:
Set degree of freedom reference signal step, eight degree of freedom acceleration setting signals of input six degree of freedom shaking table are delivered to three condition input filter step;
Three condition input filter step is decomposed into position, speed and acceleration signal with eight degree of freedom acceleration signals importing, and the data of delivering to comparer and three condition feedback step compare processing;
The degree of freedom synthesis step obtains the speed and the acceleration signal of eight degree of freedom with the position of eight hydraulic cylinders, acceleration and position feed back signal through synthetic matrix, delivers to the three condition feedback step;
The three condition feedback step is delivered to comparer with eight degree of freedom positions, speed and acceleration signals of degree of freedom synthesis step output, compares processing with the data of three condition input filter step;
The degree of freedom decomposition step, the deviation signal of eight degree of freedom that three condition input filter and three condition feedback step comparison process are obtained is decomposed, and calculates each Driven by Hydraulic Cylinder data and passes to the output step;
After output step, the cylinder long data that the degree of freedom decomposition step is calculated are adjusted through pid control parameter, give eight hydraulic cylinder servo controllers of Triaxiality and six degrees of freedom shaking table, drive hydraulic cylinder output.
The present invention also has some technical characterictics like this:
1, the input end of described control is for increasing by eight degree of freedom positions, speed and the acceleration three condition input signal of two distortion degree of freedom; Decompose the drive signal that the back produces eight servo actuators through degree of freedom; Position, speed and the acceleration of eight servo actuator outputs are synthetic through degree of freedom, and the three condition feedback signal and the three condition input signal that form eight degree of freedom compare;
2, the equation of constraint of the torsional motion trend of described two distortion degree of freedom is: the level of supposing the six degree of freedom shaking table is respectively x to four actuator are arranged 1, x 2, y 1, y 2Vertically to there being four actuator to be respectively z 1, z 2, z 3, z 4X 1And X 2Distance on two actuator between hinge is 2l 1, Y 1And Y 2Distance on two actuator between hinge is 2l 2, the six-freedom degree acceleration is expressed as respectively: X, Y, Z, R x, R yAnd R z, then have:
X = 0.5 ( x 1 + x 2 ) Y = 0.5 ( y 1 + y 2 ) Z = 0.25 ( z 1 + z 2 + z 3 + z 4 ) R x = 0.25 ( - z 1 - z 2 + z 3 + z 4 ) R y = 0.25 ( - z 1 + z 2 - z 3 + z 4 ) R z = 0.25 x 1 - 0.25 x 2 + l 1 l 2 × 4 y 1 - l 1 l 2 × 4 y 2
In the formula, x i, y i(i=1,2) and z j(j=1,2,3,4) represent the acceleration feedback signal of eight hydraulic actuators respectively; Two torsional motion equation of constraint are defined as respectively
T Vdof＝0.25(z 2-z 1+z 3-z 4)
T Hdof = 0.25 x 1 - 0.25 x 2 - l 1 l 2 y 1 + l 1 l 2 y 2
T in the formula Vdof-vertically to torsional motion trend equation of constraint
T Hdof-level is to torsional motion trend equation of constraint
3, the Triaxiality and six degrees of freedom shaking table degree of freedom composite matrix equation of described increase distortion degree of freedom control is:
X = 0.5 ( x 1 + x 2 ) Y = 0.5 ( y 1 + y 2 ) Z = 0.25 ( z 1 + z 2 + z 3 + z 4 ) R x = 0.25 ( - z 1 - z 2 + z 3 + z 4 ) R y = 0.25 ( - z 1 + z 2 - z 3 + z 4 ) R z = 0.25 x 1 - 0.25 x 2 + l 1 l 2 × 4 y 1 - l 1 l 2 × 4 y 2 T V = 0.25 ( z 2 - z 1 + z 3 - z 4 ) T H = 0.25 x 1 - 0.25 x 2 - l 1 l 2 × 4 y 1 + l 1 l 2 × 4 y 2 ;
4, described eight degree of freedom acceleration signals will importing are decomposed into that the degree of freedom split-matrix is in position, speed and the acceleration signal:
H = 0.5 0.5 0 0 0 0 0 0 0 0 0.5 0.5 0 0 0 0 0 0 0 0 0.25 0.25 0.25 0.25 0 0 0 0 - 0.25 - 0.25 0.25 0.25 0 0 0 0 - 0.25 0.25 - 0.25 0.25 0.25 - 0.25 l 1 l 2 × 4 - l 1 l 2 × 4 0 0 0 0 0 0 0 0 - 0.25 0.25 0.25 - 0.25 0.25 - 0.25 - l 1 l 2 × 4 l 1 l 2 × 4 0 0 0 0
Degree of freedom split-matrix H '=H -1, wherein H is the deviation signal of each hydraulic cylinder.
Fig. 6-Fig. 7 has provided the Triaxiality and six degrees of freedom shaking table and has considered to twist the control synoptic diagram of degree of freedom.The input end of control is for considering eight degree of freedom positions, speed and the acceleration three condition input signal of two distortion degree of freedom; Decompose the drive signal that the back produces eight servo actuators through degree of freedom; Position, speed and the acceleration of eight servo actuator outputs are synthetic through degree of freedom, and the three condition feedback signal and the three condition input signal that form eight degree of freedom compare, and realize the closed-loop control of eight degree of freedom
Wherein, the critical process in the distortion control technology is:
● the equation of constraint of definition level and vertical torsional motion trend;
● the torsional motion equation of constraint is combined with traditional six degree of freedom control strategy, make that separating of each drive amount of shaking table system is unique, reach the purpose of constraint torsional motion trend.
Increase before and after the control of distortion degree of freedom, six degree of freedom shaking table system performance index to such as shown in table 1～3.
The internal force coupling value between certain 2m * each actuator of 4m three-dimensional six degree of freedom shaking table and the acceleration performance index of system are considered under the distortion degree of freedom controlled condition in table 1～3rd.
As can be seen from Table 1, during light condition under two kinds of control strategies the pressure reduction of actuator when static state basic identical.But under the 7t loading condition, the static pressure reduction of actuator will be apparently higher than the pressure reduction of distortion during control strategy during the six degree of freedom control strategy, and there is bigger internal force coupling in system.When adopting the distortion control strategy, unloaded, the actuator pressure reduction of 7t loading condition lower platform when the work zero-bit is constant substantially.Show and adopt distortion control can make that internal force no longer changes with the conversion of load weight, load placed mode and oily temperature equivalent between each actuator.
As can be seen, the distortion control strategy is compared with traditional six degree of freedom control strategy from the experimental data of table 2 and 3, owing to realized the internal force decoupling zero between each actuator, acceleration uniformity coefficient and acceleration cross stream component have bigger improvement.
Actuator pressure reduction contrast table during table 1 work zero-bit
Actuator Pressure reduction during the six degree of freedom control mode (MPa) Pressure reduction (MPa) during the distortion control mode
Unloaded The 7t load Unloaded The 7t load
X 1 -1.347 1.965 0.617 0.57
X 2 1.192 -1.995 -0.624 -0.54
Y 1 2.360 -3.990 -1.202 -1.02
Y 2 -2.302 3.975 1.106 1.18
Z 1 -0.626 -1.505 -0.345 -0.99
Z 2 0.987 2.795 0.400 0.81
Z 3 0.895 2.035 0.346 0.91
Z 4 -0.656 -2.895 -0.258 -1.03
Table 2 acceleration uniformity coefficient contrast table
Figure S2007101447667D00041
Table 3 acceleration laterally than
Figure S2007101447667D00051
The present invention adopts the control technology elimination of distortion degree of freedom or reduces by system's internal force that reason produced such as servo actuator zero point drifts, on traditional driving redundancy structure axis six-freedom hydraulic vibration table servo control loop basis, the level that adds shaking platform respectively to torsional motion trend equation of constraint with vertical to torsional motion trend equation of constraint, realization is to constraint of two redundant distortion degree of freedom and motion control, internal force between each actuator coupling in the impair system effectively, the acceleration that improves shaking table system laterally than with index such as acceleration uniformity coefficient.
(4) description of drawings
Fig. 1-Fig. 2 is a six degree of freedom shaking table composition diagram;
Fig. 3 is Triaxiality and six degrees of freedom shaking table control principle figure of the present invention;
Fig. 4-Fig. 5 is a shaking table torsional motion trend synoptic diagram;
Fig. 6-Fig. 7 is a Triaxiality and six degrees of freedom shaking table servocontrol synoptic diagram of considering the distortion degree of freedom.
(5) embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments:
The technical characterictic of present embodiment is as follows: Fig. 1-Fig. 2 is a six degree of freedom shaking table composition diagram.Level is respectively x1 to four actuator are arranged, x2, x3, x4; Vertically to there being four actuator to be respectively z 1, z 2, z 3, z 4
In Fig. 1-Triaxiality and six degrees of freedom shaking table shown in Figure 2, X 1And X 2Distance on two actuator between hinge is 2l 1, Y 1And Y 2Distance on two actuator between hinge is 2l 2The six-freedom degree acceleration is expressed as respectively: X, Y, Z, R x, R yAnd R z, then have:
X = 0.5 ( x 1 + x 2 ) Y = 0.5 ( y 1 + y 2 ) Z = 0.25 ( z 1 + z 2 + z 3 + z 4 ) R x = 0.25 ( - z 1 - z 2 + z 3 + z 4 ) R y = 0.25 ( - z 1 + z 2 - z 3 + z 4 ) R z = 0.25 x 1 - 0.25 x 2 + l 1 l 2 × 4 y 1 - l 1 l 2 × 4 y 2 - - - ( 1 )
In the formula, x i, y i(i=1,2) and z j(j=1,2,3,4) represent the acceleration feedback signal of eight hydraulic actuators respectively.
From the kinematics angle analysis, drive redundancy structure Triaxiality and six degrees of freedom shaking table and have 8 hydraulic servo actuator, then should have 8 freedoms of motion.Because shaking platform is thought rigid body, then the motion of two distortion degree of freedom is retrained by shaking platform.But,, cause level to 4 servo actuators or 4 couplings that vertical servo start produces internal force because the characterisitic parameter of level between 4 servo actuators or 4 vertical servo actuators can not be in full accord.The internal force couple state as shown in Figure 4 and Figure 5, wherein Fig. 4 is vertically to torsional motion trend synoptic diagram, demonstration be z 2, z 3Retraction movement trend is arranged and z 1, z 4When the movement tendency of stretching out is arranged, a kind of " saddle " shape movement tendency that platform produces, under this state, since the rigid constraint of platform, the feasible internal force that vertically is coupled out " saddle " shape to four hydraulic actuators; Fig. 5 be level to torsional motion trend, demonstration be x 1, y 2Retraction movement trend is arranged and x 2, y 1When the movement tendency of stretching out is arranged, a kind of " rhombus " movement tendency that platform produces, under this state, because the rigid constraint of platform, the level that makes is coupled out the internal force of " rhombus " shape to four hydraulic actuators.
In traditional Triaxiality and six degrees of freedom shaking table governing equation, only 6 degree of freedom motions are wherein retrained, i.e. X, Y, Z, R x, R yAnd R z, and not to the kinematic constraints of two distortion degree of freedom, when the actuator assembly under random disturbance factor effects such as various drifts, will inevitably on two distortion degree of freedom, produce the internal force coupling.The present invention sets up the equation of constraint of two torsional motion trend in traditional six degree of freedom control loop.Two torsional motion equation of constraint are defined as respectively
T Vdof＝0.25(z 2-z 1+z 3-z 4)
T Hdof = 0.25 x 1 - 0.25 x 2 - l 1 l 2 y 1 + l 1 l 2 y 2 - - - ( 2 )
T in the formula Vdof-vertically to torsional motion trend equation of constraint
T Hdof-level is to torsional motion trend equation of constraint
The synthetic equation of Triaxiality and six degrees of freedom shaking table degree of freedom of then considering the control of distortion degree of freedom is:
X = 0.5 ( x 1 + x 2 ) Y = 0.5 ( y 1 + y 2 ) Z = 0.25 ( z 1 + z 2 + z 3 + z 4 ) R x = 0.25 ( - z 1 - z 2 + z 3 + z 4 ) R y = 0.25 ( - z 1 + z 2 - z 3 + z 4 ) R z = 0.25 x 1 - 0.25 x 2 + l 1 l 2 × 4 y 1 - l 1 l 2 × 4 y 2 T V = 0.25 ( z 2 - z 1 + z 3 - z 4 ) T H = 0.25 x 1 - 0.25 x 2 - l 1 l 2 × 4 y 1 + l 1 l 2 × 4 y 2 - - - ( 3 )
Be that the degree of freedom split-matrix is:
H = 0.5 0.5 0 0 0 0 0 0 0 0 0.5 0.5 0 0 0 0 0 0 0 0 0.25 0.25 0.25 0.25 0 0 0 0 - 0.25 - 0.25 0.25 0.25 0 0 0 0 - 0.25 0.25 - 0.25 0.25 0.25 - 0.25 l 1 l 2 × 4 - l 1 l 2 × 4 0 0 0 0 0 0 0 0 - 0.25 0.25 0.25 - 0.25 0.25 - 0.25 - l 1 l 2 × 4 l 1 l 2 × 4 0 0 0 0 - - - ( 4 )
H′＝H -1 (5)。
Fig. 6-Fig. 7 has provided the Triaxiality and six degrees of freedom shaking table and has considered to twist the control synoptic diagram of degree of freedom.The input end of control is for considering eight degree of freedom positions, speed and the acceleration three condition input signal of two distortion degree of freedom; Decompose the drive signal that the back produces eight servo actuators through degree of freedom; Position, speed and the acceleration of eight servo actuator outputs are synthetic through degree of freedom, and the three condition feedback signal and the three condition input signal that form eight degree of freedom compare, and realize the closed-loop control of eight degree of freedom.
In conjunction with Fig. 1-5, present embodiment comprises the attainable step of following computing machine: set the reference signal step, the Triaxiality and six degrees of freedom shaking table can realize six degree of freedom at random, the function of six degree of freedom sine sweep, six degree of freedom surge waveform and the reproduction of six degree of freedom random waveform.Therefore, set reference signal and be the six degree of freedom of the required reproduction of user or the signals such as random spectrum, sine sweep, shock wave or random wave of lower-mobility.In addition, because platform is approximately rigid body, thereby torsional motion can not occur in the vibration processes, so the setting value of two torsional motion equations remains zero in the experimentation;
Three condition input filter step according to Fig. 3, will be set the acceleration reference signal and be converted into the given signal in position and speed, acceleration along feedback signal.The three condition input filter exports comparer to.
The degree of freedom synthesis step synthesizes the signal of 8 degree of freedom with position, speed and the acceleration signal of eight hydraulic cylinders according to formula (3), and will export the pose data and give the three condition feedback step.Wherein position and the acceleration signal with 8 hydraulic cylinders synthesizes, and obtains the position and the acceleration signal of eight degree of freedom; Obtain the rate signal of each hydraulic cylinder behind the integration of degree of will speed up signal and the differential of position signalling, through the synthetic rate signal that obtains eight degree of freedom;
The three condition feedback step is delivered to corresponding with it comparer respectively with eight degrees of freedom position, speed and acceleration signal and is compared with the output of three condition input filter step;
Degree of freedom decomposition step fortune according to eight degree of freedom site errors of comparer output, obtains the deviation signal of 8 hydraulic cylinders according to formula (4), gives the output step;
The output step is a proportional controller, the deviation signal of each hydraulic cylinder is carried out ratio reconcile, and exports to the hydraulic cylinder servo controller of six degree of freedom shaking table, finishes the driving of each hydraulic cylinder.Here step is the ordinary skill processing procedure, and present embodiment does not just describe in detail.

Claims (5)

1. one kind drives the vibration table with redundant 6 freedom internal force decoupling control method, it is characterized in that it comprises the step that following computer program can be realized:
Set degree of freedom reference signal step, eight degree of freedom acceleration setting signals of input six degree of freedom shaking table are delivered to three condition input filter step;
Three condition input filter step is decomposed into position, speed and acceleration signal with eight degree of freedom acceleration signals importing, and the data of delivering to comparer and three condition feedback step compare processing;
The degree of freedom synthesis step obtains the speed and the acceleration signal of eight degree of freedom with the position of eight hydraulic cylinders, acceleration and position feed back signal through synthetic matrix, delivers to the three condition feedback step;
The three condition feedback step is delivered to comparer with eight degree of freedom positions, speed and acceleration signals of degree of freedom synthesis step output, compares processing with the data of three condition input filter step;
The degree of freedom decomposition step, the deviation signal of eight degree of freedom that three condition input filter and three condition feedback step comparison process are obtained is decomposed, and calculates each Driven by Hydraulic Cylinder data and passes to the output step;
After output step, the cylinder long data that the degree of freedom decomposition step is calculated are adjusted through pid control parameter, give eight hydraulic cylinder servo controllers of Triaxiality and six degrees of freedom shaking table, drive hydraulic cylinder output.
2. driving vibration table with redundant 6 freedom internal force decoupling control method according to claim 1, the input end that it is characterized in that described control is for increasing by eight degree of freedom positions, speed and the acceleration three condition input signal of two distortion degree of freedom, decompose the drive signal that the back produces eight servo actuators through degree of freedom, position, speed and the acceleration of eight servo actuator outputs are synthetic through degree of freedom, and the three condition feedback signal and the three condition input signal that form eight degree of freedom compare.
3. driving vibration table with redundant 6 freedom internal force decoupling control method according to claim 2, the equation of constraint that it is characterized in that the torsional motion trend of described two distortion degree of freedom is: the level of supposing the six degree of freedom shaking table is respectively x to four actuator are arranged 1, x 2, y 1, y 2Vertically to there being four actuator to be respectively z 1, z 2, z 3, z 4X 1And X 2Distance on two actuator between hinge is 2l 1, Y 1And Y 2Distance on two actuator between hinge is 2l 2, the six-freedom degree acceleration is expressed as respectively: X, Y, Z, R x, R yAnd R z, then have:
X = 0.5 ( x 1 + x 2 ) Y = 0.5 ( y 1 + y 2 ) Z = 0.25 ( z 1 + z 2 + z 3 + z 4 ) R x = 0.25 ( - z 1 - z 2 + z 3 + z 4 ) R y = 0.25 ( - z 1 + z 2 - z 3 + z 4 ) R z = 0.25 x 1 - 0.25 x 2 + l 1 l 2 × 4 y 1 - l 1 l 2 × 4 y 2
In the formula, x i, y i(i=1,2) and z j(j=1,2,3,4) represent the acceleration feedback signal of eight hydraulic actuators respectively; Two torsional motion equation of constraint are defined as respectively
T Vdof＝0.25(z 2-z 1+z 3-z 4)
T Hdof = 0.25 x 1 - 0.25 x 2 - l 1 l 2 y 1 + l 1 l 2 y 2
T in the formula VdofFor vertically to torsional motion trend equation of constraint
T HdofFor level to torsional motion trend equation of constraint.
4. driving vibration table with redundant 6 freedom internal force decoupling control method according to claim 3 is characterized in that the Triaxiality and six degrees of freedom shaking table degree of freedom composite matrix equation of described increase distortion degree of freedom control is:
X = 0.5 ( x 1 + x 2 ) Y = 0.5 ( y 1 + y 2 ) Z = 0.25 ( z 1 + z 2 + z 3 + z 4 ) R x = 0.25 ( - z 1 - z 2 + z 3 + z 4 ) R y = 0.25 ( - z 1 + z 2 - z 3 + z 4 ) R z = 0.25 x 1 - 0.25 x 2 + l 1 l 2 × 4 y 1 - l 1 l 2 × 4 y 2 T V = 0.25 ( z 2 - z 1 + z 3 - z 4 ) T H = 0.25 x 1 - 0.25 x 2 - l 1 l 2 × 4 y 1 + l 1 l 2 × 4 y 2 .
5. driving vibration table with redundant 6 freedom internal force decoupling control method according to claim 4 is characterized in that described eight degree of freedom acceleration signals will importing are decomposed into that the degree of freedom split-matrix is in position, speed and the acceleration signal:
H = 0.5 0.5 0 0 0 0 0 0 0 0 0.5 0.5 0 0 0 0 0 0 0 0 0.25 0.25 0.25 0.25 0 0 0 0 - 0.25 - 0.25 0.25 0.25 0 0 0 0 - 0.25 0.25 - 0.25 0.25 0.25 - 0.25 l 1 l 2 × 4 - l 1 l 2 × 4 0 0 0 0 0 0 0 0 - 0.25 0.25 0.25 - 0.25 0.25 - 0.25 - l 1 l 2 × 4 l 1 l 2 × 4 0 0 0 0
Degree of freedom split-matrix H '=H -1, wherein H is the deviation signal of each hydraulic cylinder.
CN2007101447667A 2007-12-07 2007-12-07 Internal force decoupling control method for driving vibration table with redundant 6 freedom Expired - Fee Related CN101196429B (en)

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