CN114992436B - High-frequency interference force suppression method for six-degree-of-freedom electrohydraulic motion platform - Google Patents

High-frequency interference force suppression method for six-degree-of-freedom electrohydraulic motion platform Download PDF

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CN114992436B
CN114992436B CN202210460196.7A CN202210460196A CN114992436B CN 114992436 B CN114992436 B CN 114992436B CN 202210460196 A CN202210460196 A CN 202210460196A CN 114992436 B CN114992436 B CN 114992436B
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signal
valve
freedom
valve control
control cylinder
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CN114992436A (en
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关广丰
范大莽
熊伟
王海涛
马文琦
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Dalian Maritime University
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Dalian Maritime University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization

Abstract

The invention discloses a high-frequency interference force suppression method for a six-degree-of-freedom electrohydraulic motion platform, which comprises the following steps: defining a six-degree-of-freedom displacement reference signal of the six-degree-of-freedom electrohydraulic motion platform as Q 0 The method comprises the steps of carrying out a first treatment on the surface of the Multiplying matrix J by signal Q 0 The method comprises the steps of carrying out a first treatment on the surface of the Will r d As an input signal to a reference signal generator module; will r a As an input signal to the integrator 1 module; will r v As an input signal to the integrator 2 module; calculating an output signal u of the suppression controller module; and the output signal u of the inhibition controller module is used as a driving signal of the six valve-controlled cylinder mechanisms and is input into the six valve-controlled cylinder mechanisms to drive the six-degree-of-freedom electrohydraulic motion platform to move. The invention can control the time domain peak value error of the displacement output signal and the displacement reference signal of the Z-direction freedom degree of the six-freedom degree electro-hydraulic motion platform within 3 percent, and obviously improves the control precision of the six-freedom degree electro-hydraulic motion platform. All steps of the invention can be realized by software programming, and are easy to realize by adopting computer digital control.

Description

High-frequency interference force suppression method for six-degree-of-freedom electrohydraulic motion platform
Technical Field
The invention relates to an electrohydraulic motion platform technology, in particular to a high-frequency interference force suppression method for a six-degree-of-freedom electrohydraulic motion platform.
Background
The multi-degree-of-freedom electrohydraulic motion platform is widely applied to the fields of motion simulation, parallel machine tools and the like by simulating motions with multiple degrees of freedom. Along with the progress of science and technology, the application scene of the multi-degree-of-freedom motion platform is continuously expanded and deepened, and the requirements of various fields on the control precision of the motion platform are higher and higher.
The six-degree-of-freedom electrohydraulic motion platform is driven by six sets of valve-controlled cylinder mechanisms and has six degrees of motion freedom of transverse, heading, heave, roll, pitch and yaw. In the motion process, interference force can be generated in the electrohydraulic motion platform due to basic elasticity, load elasticity and flexible connection, and zero offset exists in the servo valve, so that the control precision of the electrohydraulic motion platform with six degrees of freedom is greatly reduced by the interference factors. The traditional control method does not consider the influence of dynamic characteristics of the servo valve, so that the capability of inhibiting interference force is seriously reduced under the high-frequency working condition, and the control precision is seriously reduced. Taking the movement of the electrohydraulic moving platform along the Z-direction degree of freedom as an example, analysis shows that under the high-frequency working condition, when the traditional control method is adopted, the time domain peak value error of the displacement output signal and the displacement reference signal of the Z-direction degree of freedom is about 10%, and the control precision of the electrohydraulic moving platform is seriously influenced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention designs the high-frequency interference force suppression method for the six-degree-of-freedom electrohydraulic motion platform, which can simultaneously suppress the influence of interference force and zero offset of a servo valve on the electrohydraulic motion platform under the high-frequency working condition and can effectively improve the control precision of the electrohydraulic motion platform.
In order to achieve the above object, the technical scheme of the present invention is as follows: the high-frequency interference force suppression method for the six-degree-of-freedom electrohydraulic motion platform comprises three horizontal valve control cylinder mechanisms, three vertical valve control cylinder mechanisms, an upper platform and a lower platform; the three horizontal valve control cylinder mechanisms are respectively a valve control cylinder mechanism No. 1, a valve control cylinder mechanism No. 2 and a valve control cylinder mechanism No. 3; the three vertical valve control cylinder mechanisms are respectively a valve control cylinder mechanism No. 4, a valve control cylinder mechanism No. 5 and a valve control cylinder mechanism No. 6; the outer ends of the No. 1 valve control cylinder mechanism, the No. 2 valve control cylinder mechanism and the No. 3 valve control cylinder mechanism are respectively connected with a No. 1 cylinder support, a No. 2 cylinder support and a No. 3 cylinder support through respective hook hinges, the inner ends of the No. 1 valve control cylinder mechanism, the No. 2 valve control cylinder mechanism and the No. 3 valve control cylinder mechanism are respectively connected with an upper platform through respective hook hinges, and the lower ends of the No. 1 cylinder support, the No. 2 cylinder support and the No. 3 cylinder support are all fixed on a lower platform; the upper ends of the No. 4 valve control cylinder mechanism, the No. 5 valve control cylinder mechanism and the No. 6 valve control cylinder mechanism are respectively connected with the upper platform through respective hook hinges, and the lower ends of the No. 4 valve control cylinder mechanism, the No. 5 valve control cylinder mechanism and the No. 6 valve control cylinder mechanism are respectively connected with the lower platform through respective hook hinges.
And setting the mass center O of the platform as a control point, and establishing an OXYZ coordinate system at the control point. The positive direction of the OX shaft points to the upper hinge point direction of the No. 5 valve control cylinder mechanism from the O point. The OZ axis positive direction vertically points to the lower platform; the directions of the three coordinate axes OX, OY and OZ meet the right hand rule. The upper platform has six degrees of freedom of movement, namely rolling movement rotating around the OX axis, pitching movement rotating around the OY axis, yawing movement rotating around the OZ axis, transverse movement translating along the OX axis, heading movement translating along the OY axis and heave movement translating along the OZ axis. d, d 1 Is half of the connecting line distance between the hinge point center on the No. 4 valve control cylinder mechanism and the hinge point center on the No. 6 valve control cylinder mechanism, d 2 The projection length d of the connecting line between the center of the upper platform and the center of the hinge point on the 6 # valve control cylinder mechanism on the OX shaft 3 The projection length d of the connecting line between the center of the upper platform and the center of the hinge point on the No. 5 valve control cylinder mechanism on the OX shaft 4 Is half of the connecting line distance between the hinge point centers of the valve control cylinder mechanism No. 2 and the valve control cylinder mechanism No. 3. The structural parameters of all elements in the valve control cylinder mechanisms 1 to 6 are the same, A is the annular effective area between the piston and the piston rod of the hydraulic cylinder, and V t Is the total volume of two cavities of the hydraulic cylinder, K c For the flow pressure coefficient, C, of the servo valve tc Is the total leakage coefficient, K of the hydraulic cylinder q Is the servo valve flow gain.
The inhibition method comprises the following steps:
A、defining a six-degree-of-freedom displacement reference signal of the six-degree-of-freedom electrohydraulic motion platform as Q 0 ，Q 0 For a 6 x 1 column vector, the expression is:
Q 0 ＝[x 0 y 0 z 0 Rx 0 Ry 0 Rz 0 ] T
wherein x is 0 A displacement reference signal for a lateral degree of freedom; y is 0 A displacement reference signal which is the course degree of freedom; z 0 A displacement reference signal for heave degrees of freedom; rx (x) 0 A displacement reference signal for a roll degree of freedom; ry (Ry) 0 A displacement reference signal for a pitch degree of freedom; rz (Rz) 0 A displacement reference signal for yaw degrees of freedom; the superscript T denotes the vector transpose.
B. Multiplying matrix J by signal Q 0 The output signal is denoted as r d ，r d For a 6×1 column vector, the calculation formula is:
r d ＝JQ 0
the expression of matrix J is:
C. will r d As the input signal of the reference signal generator module, the output signal is denoted as r a ，r a For a 6×1 column vector, the calculation formula is:
where s is a complex variable in the Laplace transform, f 1 、f 2 Are all turning frequencies, and f 1 <f 2 。
D. Will r a As an input signal to the integrator 1 module, the output signal is denoted r v ，r v For a 6×1 column vector, the calculation formula is:
E. will r v As an input signal to the integrator 2 module, the output signal is denoted r x ，r x For a 6×1 column vector, the calculation formula is:
F. acquiring displacement signal x of hydraulic cylinder piston rod in valve control cylinder mechanism No. 1 1 Velocity signal v 1 Acceleration signal a 1 Differential pressure signal P of two cavities of hydraulic cylinder L1 Valve core displacement x of servo valve v1 Collecting displacement signal x of hydraulic cylinder piston rod in No. 2 valve control cylinder mechanism 2 Velocity signal v 2 Acceleration signal a 2 Differential pressure signal P of two cavities of hydraulic cylinder L2 Valve core displacement x of servo valve v2 Collecting displacement signal x of hydraulic cylinder piston rod in No. 3 valve control cylinder mechanism 3 Velocity signal v 3 Acceleration signal a 3 Differential pressure signal P of two cavities of hydraulic cylinder L3 Valve core displacement x of servo valve v3 Collecting displacement signal x of hydraulic cylinder piston rod in No. 4 valve control cylinder mechanism 4 Velocity signal v 4 Acceleration signal a 4 Differential pressure signal P of two cavities of hydraulic cylinder L4 Valve core displacement x of servo valve v4 Collecting displacement signal x of hydraulic cylinder piston rod in No. 5 valve control cylinder mechanism 5 Velocity signal v 5 Acceleration signal a 5 Differential pressure signal P of two cavities of hydraulic cylinder L5 Valve core displacement x of servo valve v5 Collecting displacement signal x of hydraulic cylinder piston rod in No. 6 valve control cylinder mechanism 6 Velocity signal v 6 Acceleration signal a 6 Differential pressure signal P of two cavities of hydraulic cylinder L6 Valve core displacement x of servo valve v6 And (3) making:
x＝[x 1 x 2 x 3 x 4 x 5 x 6 ] T
v＝[v 1 v 2 v 3 v 4 v 5 v 6 ] T
a＝[a 1 a 2 a 3 a 4 a 5 a 6 ] T
P L ＝[P L1 P L2 P L3 P L4 P L5 P L6 ] T
x v ＝[x v1 x v2 x v3 x v4 x v5 x v6 ] T
signal r x 、r v 、r a 、x、v、a、P L 、x v As an input signal of the suppression controller module, an output signal u of the suppression controller module is calculated, u being a 6×1 column vector, and a calculation formula is:
α 2 ＝mr a -(mk 1 +k 2 )(v-r v )-k 1 k 2 (x-r x )-μ 3 AP s sat[k 1 (x-r x )+v-r v ]
wherein m is the load mass, P s Oil supply pressure for oil source beta e For the bulk modulus of the hydraulic oil, f v For servo valve bandwidth, u m For rated drive signal of servo valve, k 1 、k 2 、k 3 、k 4 All are gain, mu 1 、μ 2 、μ 3 、ε 1 Are positive numbers less than 1. Wherein k is 1 、k 2 、k 3 、k 4 、μ 1 、μ 2 、μ 3 、ε 1 Are all set by engineers in the field. sat (·) is a saturation function, and the calculation formula is:
where Δ is a positive number less than 1, set by the engineer on site.
G. And the output signal u of the inhibition controller module is used as a driving signal of the six valve-controlled cylinder mechanisms and is input into the six valve-controlled cylinder mechanisms to drive the six-degree-of-freedom electrohydraulic motion platform to move.
Compared with the prior art, the invention has the following beneficial effects:
1. under the influence of factors such as interference force, zero offset of a servo valve, dynamic characteristics of the servo valve and the like, under the high-frequency working condition, when a traditional control method is adopted, the time domain peak value error of a displacement output signal and a displacement reference signal of the Z-direction degree of freedom of the six-degree electro-hydraulic motion platform is about 10%. After the method provided by the invention is adopted, the time domain peak value error of the displacement output signal and the displacement reference signal of the Z-direction degree of freedom of the six-degree electro-hydraulic motion platform can be controlled within 3%, and the control precision of the six-degree electro-hydraulic motion platform is obviously improved.
2. All steps of the present invention may be implemented by software programming. The method is tested on an Advantech industrial personal computer IPC-610 with a CPU of Intel PD 2.6G and a memory of 1G, the running period of the algorithm is less than 1ms, and the experimental requirements of a six-degree-of-freedom electrohydraulic motion platform can be met, so that the method is easy to realize by adopting computer digital control.
Drawings
Fig. 1 is a flow chart of the present invention.
FIG. 2 is a schematic diagram of a six-degree-of-freedom electrohydraulic motion platform employed in the present invention.
Fig. 3 is a simplified top view of fig. 2.
In the figure: 1. no. 1 valve accuse jar mechanism, no. 2 valve accuse jar mechanism, no. 3 valve accuse jar mechanism, no. 4 valve accuse jar mechanism, no. 5 valve accuse jar mechanism, no. 6 valve accuse jar mechanism, 7, upper platform, 8, lower platform, 9, no. 1 jar support, 10, no. 2 jar support, 11, no. 3 jar support.
Detailed Description
The invention is further described below with reference to the accompanying drawings. 1-3, a high-frequency interference force suppression method for a six-degree-of-freedom electrohydraulic motion platform comprises three horizontal valve control cylinder mechanisms, three vertical valve control cylinder mechanisms, an upper platform 7 and a lower platform 8; the three horizontal valve control cylinder mechanisms are respectively a valve control cylinder mechanism No. 1, a valve control cylinder mechanism No. 2 and a valve control cylinder mechanism No. 3; the three vertical valve control cylinder mechanisms are respectively a valve control cylinder mechanism No. 4, a valve control cylinder mechanism No. 5 and a valve control cylinder mechanism No. 6; the outer ends of the valve control cylinder mechanisms 1, 2 and 3 are respectively connected with the cylinder support 9, 10 and 11 through respective hook joints, the inner ends of the valve control cylinder mechanisms 1, 2 and 3 are respectively connected with the upper platform 7 through respective hook joints, and the lower ends of the cylinder support 9, 10 and 11 are fixed on the lower platform 8; the upper ends of the valve control cylinder mechanisms 4, 5 and 6 are respectively connected with the upper platform 7 through respective hook joints, and the lower ends of the valve control cylinder mechanisms 4, 5 and 6 are respectively connected with the lower platform 8 through respective hook joints.
And setting the mass center O of the platform as a control point, and establishing an OXYZ coordinate system at the control point. The positive direction of the OX shaft points from the O point to the upper hinge point of the valve cylinder mechanism 5 No. 5. The OZ axis positive direction is vertically directed to the lower platform 8; the directions of the three coordinate axes OX, OY and OZ meet the right hand rule. The upper platform 7 has six degrees of freedom of movement, which are respectively a rolling movement rotating around the OX axis, a pitching movement rotating around the OY axis, a yawing movement rotating around the OZ axis, a transverse movement translating along the OX axis, a heading movement translating along the OY axis and a heave movement translating along the OZ axis. d, d 1 Is half of the connecting line distance between the centers of the hinge points on the valve control cylinder mechanism 4 and the valve control cylinder mechanism 6, d 2 The projection length d of the connecting line between the center of the upper platform 7 and the center of the hinge point on the valve-controlled cylinder mechanism 6 on the No. 6 on the OX shaft 3 The projection length d of the connecting line between the center of the upper platform 7 and the center of the hinge point on the valve control cylinder mechanism 5 on the No. 5 on the OX shaft 4 Valve control cylinder mechanism 2 and valve control cylinder mechanism 3 for valve control cylinder mechanism 23, the connecting distance of the center of the upper hinge point is half. The structural parameters of all elements in the valve control cylinder mechanisms 1 to 6 are the same, A is the annular effective area between the piston and the piston rod of the hydraulic cylinder, and V t Is the total volume of two cavities of the hydraulic cylinder, K c For the flow pressure coefficient, C, of the servo valve tc Is the total leakage coefficient, K of the hydraulic cylinder q Is the servo valve flow gain.
The inhibition method comprises the following steps:
A. defining a six-degree-of-freedom displacement reference signal of the six-degree-of-freedom electrohydraulic motion platform as Q 0 ，Q 0 For a 6 x 1 column vector, the expression is:
Q 0 ＝[x 0 y 0 z 0 Rx 0 Ry 0 Rz 0 ] T
wherein x is 0 A displacement reference signal for a lateral degree of freedom; y is 0 A displacement reference signal which is the course degree of freedom; z 0 A displacement reference signal for heave degrees of freedom; rx (x) 0 A displacement reference signal for a roll degree of freedom; ry (Ry) 0 A displacement reference signal for a pitch degree of freedom; rz (Rz) 0 A displacement reference signal for yaw degrees of freedom; the superscript T denotes the vector transpose.
B. Multiplying matrix J by signal Q 0 The output signal is denoted as r d ，r d For a 6×1 column vector, the calculation formula is:
r d ＝JQ 0
the expression of matrix J is:
C. will r d As the input signal of the reference signal generator module, the output signal is denoted as r a ，r a For a 6×1 column vector, the calculation formula is:
where s is a complex variable in the Laplace transform, f 1 、f 2 Are all turning frequencies, and f 1 <f 2 。
D. Will r a As an input signal to the integrator 1 module, the output signal is denoted r v ，r v For a 6×1 column vector, the calculation formula is:
E. will r v As an input signal to the integrator 2 module, the output signal is denoted r x ，r x For a 6×1 column vector, the calculation formula is:
F. acquiring displacement signal x of hydraulic cylinder piston rod in valve control cylinder mechanism 1 No. 1 1 Velocity signal v 1 Acceleration signal a 1 Differential pressure signal P of two cavities of hydraulic cylinder L1 Valve core displacement x of servo valve v1 Collecting displacement signals x of hydraulic cylinder piston rods in valve control cylinder mechanism 2 No. 2 2 Velocity signal v 2 Acceleration signal a 2 Differential pressure signal P of two cavities of hydraulic cylinder L2 Valve core displacement x of servo valve v2 Collecting displacement signal x of hydraulic cylinder piston rod in valve control cylinder mechanism 3 No. 3 3 Velocity signal v 3 Acceleration signal a 3 Differential pressure signal P of two cavities of hydraulic cylinder L3 Valve core displacement x of servo valve v3 Collecting displacement signal x of hydraulic cylinder piston rod in valve control cylinder mechanism 4 No. 4 4 Velocity signal v 4 Acceleration signal a 4 Differential pressure signal P of two cavities of hydraulic cylinder L4 Valve core displacement x of servo valve v4 Collecting displacement signal x of hydraulic cylinder piston rod in valve control cylinder mechanism 5 No. 5 5 Velocity signal v 5 Acceleration signal a 5 Differential pressure signal P of two cavities of hydraulic cylinder L5 Valve core displacement x of servo valve v5 Collecting valve control No. 6Displacement signal x of hydraulic cylinder piston rod in cylinder mechanism 6 6 Velocity signal v 6 Acceleration signal a 6 Differential pressure signal P of two cavities of hydraulic cylinder L6 Valve core displacement x of servo valve v6 And (3) making:
x＝[x 1 x 2 x 3 x 4 x 5 x 6 ] T
v＝[v 1 v 2 v 3 v 4 v 5 v 6 ] T
a＝[a 1 a 2 a 3 a 4 a 5 a 6 ] T
P L ＝[P L1 P L2 P L3 P L4 P L5 P L6 ] T
x v ＝[x v1 x v2 x v3 x v4 x v5 x v6 ] T
signal r x 、r v 、r a 、x、v、a、P L 、x v As an input signal of the suppression controller module, an output signal u of the suppression controller module is calculated, u being a 6×1 column vector, and a calculation formula is:
α 2 ＝mr a -(mk 1 +k 2 )(v-r v )-k 1 k 2 (x-r x )-μ 3 AP s sat[k 1 (x-r x )+v-r v ]
wherein m is the load mass, P s Oil supply pressure for oil source beta e For the bulk modulus of the hydraulic oil, f v For servo valve bandwidth, u m For the rated drive signal of the servo valve,k 1 、k 2 、k 3 、k 4 all are gain, mu 1 、μ 2 、μ 3 、ε 1 Are positive numbers less than 1. Wherein k is 1 、k 2 、k 3 、k 4 、μ 1 、μ 2 、μ 3 、ε 1 Are all set by engineers in the field. sat (·) is a saturation function, and the calculation formula is:
where Δ is a positive number less than 1, set by the engineer on site.
G. And the output signal u of the inhibition controller module is used as a driving signal of the six valve-controlled cylinder mechanisms and is input into the six valve-controlled cylinder mechanisms to drive the six-degree-of-freedom electrohydraulic motion platform to move. The present invention is not limited to the present embodiment, and any equivalent concept or modification within the technical scope of the present invention is listed as the protection scope of the present invention.

Claims (1)

1. The high-frequency interference force suppression method for the six-degree-of-freedom electrohydraulic motion platform comprises three horizontal valve control cylinder mechanisms, three vertical valve control cylinder mechanisms, an upper platform (7) and a lower platform (8); the three horizontal valve control cylinder mechanisms are respectively a valve control cylinder mechanism No. 1, a valve control cylinder mechanism No. 2 and a valve control cylinder mechanism No. 3 (3); the three vertical valve control cylinder mechanisms are respectively a valve control cylinder mechanism No. 4, a valve control cylinder mechanism No. 5 and a valve control cylinder mechanism No. 6 (6); the outer ends of the valve control cylinder mechanisms 1, 2 and 3 are respectively connected with the cylinder support 9, 10 and 11 through respective hook joints, the inner ends of the valve control cylinder mechanisms 1, 2 and 3 are respectively connected with the upper platform 7 through respective hook joints, and the lower ends of the cylinder support 9, 10 and 11 are respectively fixed on the lower platform 8; the upper ends of the valve control cylinder mechanisms (4, 5 and 6) are respectively connected with the upper platform (7) through respective hook joints, and the lower ends of the valve control cylinder mechanisms (4, 5 and 6) are respectively connected with the lower platform (8) through respective hook joints;
setting a mass center O of the platform as a control point, and establishing an OXYZ coordinate system at the control point; the positive direction of the OX shaft points to the upper hinge point direction of a No. 5 valve control cylinder mechanism (5) from an O point; the OZ axis positive direction vertically points to the lower platform (8); the directions of three coordinate axes of OX, OY and OZ meet the right hand rule; the upper platform (7) has six degrees of freedom of movement, namely rolling movement rotating around the OX axis, pitching movement rotating around the OY axis, yawing movement rotating around the OZ axis, transverse movement translating along the OX axis, heading movement translating along the OY axis and heave movement translating along the OZ axis; d, d 1 Is half of the connecting line distance between the valve-controlled cylinder mechanism (4) of the No. 4 and the center of the hinge point on the valve-controlled cylinder mechanism (6), d 2 The projection length d of the connecting line between the center of the upper platform (7) and the center of the hinge point on the valve-controlled cylinder mechanism (6) on the OX shaft 3 The projection length d of the connecting line between the center of the upper platform (7) and the center of the hinge point on the valve-controlled cylinder mechanism (5) on the OX shaft 4 The connecting line distance between the centers of the hinge points on the valve control cylinder mechanism 2 and the valve control cylinder mechanism 3 is half; the structural parameters of all elements in the valve control cylinder mechanisms 1 to 6 are the same, A is the annular effective area between the piston and the piston rod of the hydraulic cylinder, and V t Is the total volume of two cavities of the hydraulic cylinder, K c For the flow pressure coefficient, C, of the servo valve tc Is the total leakage coefficient, K of the hydraulic cylinder q Gain for servo valve flow;
the method is characterized in that: the inhibition method comprises the following steps:
A. defining a six-degree-of-freedom displacement reference signal of the six-degree-of-freedom electrohydraulic motion platform as Q 0 ，Q 0 For a 6 x 1 column vector, the expression is:
Q 0 ＝[x 0 y 0 z 0 Rx 0 Ry 0 Rz 0 ] T
wherein x is 0 A displacement reference signal for a lateral degree of freedom; y is 0 Bits for heading degrees of freedomShifting the reference signal; z 0 A displacement reference signal for heave degrees of freedom; rx (x) 0 A displacement reference signal for a roll degree of freedom; ry (Ry) 0 A displacement reference signal for a pitch degree of freedom; rz (Rz) 0 A displacement reference signal for yaw degrees of freedom; the superscript T denotes a vector transpose;
B. multiplying matrix J by signal Q 0 The output signal is denoted as r d ，r d For a 6×1 column vector, the calculation formula is:
r d ＝JQ 0
the expression of matrix J is:
C. will r d As the input signal of the reference signal generator module, the output signal is denoted as r a ，r a For a 6×1 column vector, the calculation formula is:
where s is a complex variable in the Laplace transform, f 1 、f 2 Are all turning frequencies, and f 1 <f 2 ；
D. Will r a As an input signal to the integrator 1 module, the output signal is denoted r v ，r v For a 6×1 column vector, the calculation formula is:
E. will r v As an input signal to the integrator 2 module, the output signal is denoted r x ，r x For a 6×1 column vector, the calculation formula is:
F. collecting displacement signal x of hydraulic cylinder piston rod in valve-controlled cylinder mechanism No. 1 (1) 1 Velocity signal v 1 Acceleration signal a 1 Differential pressure signal P of two cavities of hydraulic cylinder L1 Valve core displacement x of servo valve v1 Collecting displacement signals x of hydraulic cylinder piston rods in valve control cylinder mechanism No. 2 (2) 2 Velocity signal v 2 Acceleration signal a 2 Differential pressure signal P of two cavities of hydraulic cylinder L2 Valve core displacement x of servo valve v2 Collecting displacement signals x of hydraulic cylinder piston rods in valve control cylinder mechanism No. 3 (3) 3 Velocity signal v 3 Acceleration signal a 3 Differential pressure signal P of two cavities of hydraulic cylinder L3 Valve core displacement x of servo valve v3 Collecting a displacement signal x of a piston rod of a hydraulic cylinder in a valve-controlled cylinder mechanism (4) of a number 4 4 Velocity signal v 4 Acceleration signal a 4 Differential pressure signal P of two cavities of hydraulic cylinder L4 Valve core displacement x of servo valve v4 Collecting a displacement signal x of a piston rod of a hydraulic cylinder in a valve control cylinder mechanism (5) No. 5 5 Velocity signal v 5 Acceleration signal a 5 Differential pressure signal P of two cavities of hydraulic cylinder L5 Valve core displacement x of servo valve v5 Collecting displacement signals x of hydraulic cylinder piston rods in No. 6 valve control cylinder mechanism (6) 6 Velocity signal v 6 Acceleration signal a 6 Differential pressure signal P of two cavities of hydraulic cylinder L6 Valve core displacement x of servo valve v6 And (3) making:
x＝[x 1 x 2 x 3 x 4 x 5 x 6 ] T
v＝[v 1 v 2 v 3 v 4 v 5 v 6 ] T
a＝[a 1 a 2 a 3 a 4 a 5 a 6 ] T
P L ＝[P L1 P L2 P L3 P L4 P L5 P L6 ] T
x v ＝[x v1 x v2 x v3 x v4 x v5 x v6 ] T
signal r x 、r v 、r a 、x、v、a、P L 、x v As an input signal of the suppression controller module, an output signal u of the suppression controller module is calculated, u being a 6×1 column vector, and a calculation formula is:
α 2 ＝mr a -(mk 1 +k 2 )(v-r v )-k 1 k 2 (x-r x )-μ 3 AP s sat[k 1 (x-r x )+v-r v ]
wherein m is the load mass, P s Oil supply pressure for oil source beta e For the bulk modulus of the hydraulic oil, f v For servo valve bandwidth, u m For rated drive signal of servo valve, k 1 、k 2 、k 3 、k 4 All are gain, mu 1 、μ 2 、μ 3 、ε 1 All are positive numbers less than 1; wherein k is 1 、k 2 、k 3 、k 4 、μ 1 、μ 2 、μ 3 、ε 1 Are all set by engineers on site; sat (·) is a saturation function, and the calculation formula is:
wherein delta is a positive number less than 1, and is set by an engineer on site;
G. and the output signal u of the inhibition controller module is used as a driving signal of the six valve-controlled cylinder mechanisms and is input into the six valve-controlled cylinder mechanisms to drive the six-degree-of-freedom electrohydraulic motion platform to move.
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