CN115718511A - Parallel vibration damping mechanism control method and system - Google Patents

Abstract

The invention discloses a parallel vibration damping mechanism control method and a system, wherein the parallel vibration damping mechanism comprises a movable platform and a fixed platform, the centers of the movable platform and the fixed platform are connected through a passive connecting mechanism, the movable platform is fixedly connected with the passive connecting mechanism, the fixed platform is movably connected with the passive connecting mechanism, the four corners of the movable platform and the fixed platform are movably connected through an active connecting mechanism, the active connecting mechanism is driven by a driving mechanism, and the method comprises the following steps: acquiring pose information of a movable platform and a fixed platform; calculating the rotation equation of the center point of the movable platform, the first movable connection point and the second movable connection point; according to a momentum equation, performing dynamic modeling on the parallel vibration reduction mechanism to obtain a dynamic model; calculating the control force of the driving mechanism according to the pose information and the dynamic model of the movable platform and the fixed platform; and controlling the active connecting mechanism according to the control force to adjust the pose information of the movable platform. The invention controls the movable platform according to the output of the driving mechanism and maintains the balance of the movable platform under different postures.

Description

Parallel vibration damping mechanism control method and system

Technical Field

The invention relates to the technical field of vibration reduction control, in particular to a parallel vibration reduction mechanism control method and system.

Background

When a vehicle, a ship and other mobile vehicles encounter road jolt or sea wave jolt in the driving process, the active damping mechanism mostly adopts an acceleration compensation damping method, but the mode ignores the influence generated when the posture of the damping mechanism changes, so that the damping effect is not ideal.

In addition, the general vibration damping mechanism cannot ensure that the center of the table top does not move on a plane while reducing the swing in the pitching and rolling directions, and the vibration damping efficiency is always limited. For the situation of high-frequency vibration, the reaction speed of a driving device of the active vibration reduction mechanism is difficult to follow the road excitation in a bumpy environment, the pose balance has hysteresis, and an ideal vibration reduction effect is difficult to achieve.

In the dynamic control of the active vibration damping mechanism, a dynamic model of the parallel robot is often needed, an inaccurate dynamic model often causes poor control effect, and the accurate dynamic model is complex in form and is not suitable for an embedded system requiring real-time performance.

Therefore, how to improve the vibration reduction effect and the stability of the active vibration reduction mechanism has important significance.

Disclosure of Invention

In order to solve the technical problem, the invention provides a parallel damping mechanism control method and a system.

Specifically, the technical scheme of the invention is as follows:

the invention provides a parallel vibration damping mechanism control method, which is applied to a parallel vibration damping mechanism, wherein the parallel vibration damping mechanism comprises a movable platform and a fixed platform, the centers of the movable platform and the fixed platform are connected through a passive connecting mechanism, the movable platform is fixedly connected with the passive connecting mechanism, the fixed platform is movably connected with the passive connecting mechanism, four corners of the movable platform and four corners of the fixed platform are movably connected through active connecting mechanisms, and the active connecting mechanisms are driven by a driving mechanism, and the parallel vibration damping mechanism comprises the following steps:

respectively acquiring pose information of the movable platform and the fixed platform, wherein the pose information comprises a pitch angle speed, a roll angle speed and a vertical speed;

respectively calculating the momentum equations of a central point of a movable platform, a first movable connecting point and a second movable connecting point, wherein the momentum equations comprise a speed momentum equation and a force momentum equation, the first movable connecting point is a connecting point of the active connecting mechanism and the movable platform, and the second movable connecting point is a connecting point of the active connecting mechanism and the fixed platform and a connecting point of the passive connecting mechanism and the fixed platform;

according to the momentum equation, performing dynamic modeling on the parallel vibration reduction mechanism to obtain a dynamic model of the parallel vibration reduction mechanism;

calculating the control force of the driving mechanism according to the pose information of the movable platform and the fixed platform and the dynamic model;

and controlling the active connecting mechanism according to the control force to adjust the pose information of the movable platform.

In some embodiments, the calculating the control force of the driving mechanism based on the pose information and the dynamic model includes:

calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value, a roll angle speed difference value, a pitch angle acceleration difference value and a roll angle acceleration difference value between the fixed platform and the movable platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

calculating a vertical error value between the fixed platform and the movable platform according to the vertical speeds of the movable platform and the fixed platform, wherein the vertical error value comprises a vertical displacement difference value, a vertical speed difference value and a vertical acceleration difference value;

and substituting the pitch angle difference value, the roll angle difference value, the pitch angle speed difference value, the roll angle speed difference value, the pitch angle acceleration difference value, the roll angle acceleration difference value and the vertical error value into the dynamic model, and calculating to obtain the control force of the driving mechanism.

In some embodiments, the calculating a pitch angle difference, a roll angle difference, a pitch angle rate difference, a roll angle rate difference, a pitch angle acceleration difference, and a roll angle acceleration difference between the fixed platform and the movable platform according to the pitch angle velocity and the roll angle velocity of the movable platform and the fixed platform includes:

calculating the pitch angle and the roll angle of the movable platform and the fixed platform and the pitch angle acceleration and the roll angle acceleration of the fixed platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value and a roll angle speed difference value between the movable platform and the fixed platform according to the pitch angle, the roll angle, the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

calculating a pitch angle acceleration difference value between the movable platform and the fixed platform by adopting a PI control algorithm according to the pitch angle acceleration, the pitch angle and the pitch angle acceleration of the fixed platform;

and calculating the roll angle acceleration difference between the movable platform and the fixed platform by adopting a PI control algorithm according to the roll angle acceleration, the roll angle and the roll angle speed of the fixed platform.

In some embodiments, said calculating a vertical error value between said stationary platform and said movable platform based on vertical velocities of said movable platform and said stationary platform comprises:

calculating the vertical displacement of the movable platform and the fixed platform and the vertical acceleration of the fixed platform according to the vertical speeds of the movable platform and the fixed platform;

calculating a vertical displacement difference value and a vertical speed difference value between the fixed platform and the movable platform according to the vertical speed and the vertical displacement of the movable platform and the fixed platform;

and calculating the vertical acceleration difference between the fixed platform and the movable platform by adopting a ceiling damping control algorithm according to the vertical acceleration of the fixed platform, the vertical speed of the movable platform, the vertical displacement difference and the vertical speed difference.

In some embodiments, the performing the kinetic modeling on the parallel damping mechanism according to the vorticity equation to obtain the kinetic model of the parallel damping mechanism includes:

dynamically modeling the parallel damping mechanism according to the following formula:

wherein,

is the drive line speed of the coupling mechanism, F is the cylinder output force vector, F _f Is the vector of the friction force of the electric cylinder,

is the speed spin of the first articulation point,

is the amount of torque of the first articulation point,

is the speed rotation of the second articulation point,

is the amount of rotation of the second point of articulation, T _P Is the velocity momentum of the center point of the moving platform, W _P The force rotation quantity of the central point of the movable platform is taken as the force rotation quantity of the central point of the movable platform;

and according to the formula, combining a reverse Jacobian matrix to obtain a dynamic model of the parallel vibration reduction mechanism.

In some embodiments, the calculating the respective vorticity equations of the moving platform center point, the first articulation point, and the second articulation point comprises:

according to the central point of the fixed platform, a satellite coordinate system is established;

calculating a velocity and rotation equation of the central point of the movable platform according to the velocity and the angular velocity of the central point of the movable platform;

calculating a force momentum equation of the central point of the movable platform according to the unit vector of the passive connecting mechanism in the extension direction and the acceleration, the angular velocity and the angular acceleration of the central point of the movable platform;

calculating the angular speed and the driving line speed of the active connecting mechanism according to a unit vector of the active connecting structure in the stretching direction, the speed of the center point of the movable platform, the angular speed of the center point of the movable platform and the coordinate of the first movable connecting point under a coordinate system;

calculating the angular acceleration of the active connecting mechanism according to the angular velocity and the driving line velocity of the active connecting mechanism and the acceleration of the central point of the movable platform;

calculating a velocity momentum equation for the first and second moveable attachment points based on the velocity of the first moveable attachment point and the angular velocity of the active attachment mechanism;

and calculating a force momentum equation of the first movable connection point and the second movable connection point according to the acceleration of the first movable connection point, the angular velocity of the active connection mechanism, the angular acceleration of the active connection mechanism, the unit vector of the expansion direction of the active connection mechanism and the mass parameter of the parallel vibration reduction mechanism.

In some embodiments, said controlling said active coupling mechanism according to said control force, after adjusting said pose information of said mobile platform, comprises:

acquiring the current pose information of the movable platform in real time;

and adjusting the control force of the driving mechanism according to the pose information of the fixed platform and the current pose information.

The invention also provides a parallel vibration damping mechanism control system, which is applied to a parallel vibration damping mechanism, wherein the parallel vibration damping mechanism comprises a movable platform and a fixed platform, the centers of the movable platform and the fixed platform are connected through a passive connecting mechanism, the movable platform is fixedly connected with the passive connecting mechanism, the fixed platform is movably connected with the passive connecting mechanism, four corners of the movable platform and four corners of the fixed platform are movably connected through active connecting mechanisms, and the active connecting mechanisms are driven by a driving mechanism, and the parallel vibration damping mechanism comprises:

the first acquisition module is used for respectively acquiring pose information of the movable platform and the fixed platform, wherein the pose information comprises a pitch angle speed, a roll angle speed and a vertical speed;

the first calculation module is used for calculating the momentum equations of a central point of the movable platform, a first movable connection point and a second movable connection point respectively, the momentum equations comprise a speed momentum equation and a force momentum equation, the first movable connection point is a connection point of the driving mechanism and the movable platform, and the second movable connection point is a connection point of the driving mechanism and the fixed platform;

the second acquisition module is used for carrying out dynamic modeling on the parallel vibration reduction mechanism according to the momentum equation to obtain a dynamic model of the parallel vibration reduction mechanism and a connection point of the passive connection mechanism and the fixed platform;

the second calculation module is used for calculating the control force of the driving mechanism according to the pose information of the movable platform and the fixed platform and the dynamic model;

and the adjusting module is used for controlling the active connecting mechanism according to the control force and adjusting the pose information of the movable platform.

In some embodiments, the second computing module comprises:

the first calculation submodule is used for calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value, a roll angle speed difference value, a pitch angle acceleration difference value and a roll angle acceleration difference value between the fixed platform and the movable platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the second calculation submodule is used for calculating a vertical error value between the fixed platform and the movable platform according to the vertical speeds of the movable platform and the fixed platform, wherein the vertical error value comprises a vertical displacement difference value, a vertical speed difference value and a vertical acceleration difference value;

and the third calculation operator module is used for substituting the pitch angle difference value, the roll angle difference value, the pitch angle speed difference value, the roll angle speed difference value, the pitch angle acceleration difference value, the roll angle acceleration difference value and the vertical error value into the dynamic model to calculate and obtain the control force of the driving mechanism.

In some embodiments, the first computation submodule includes:

the first calculation unit is used for calculating the pitch angle and the roll angle of the movable platform and the fixed platform and the pitch angle acceleration and the roll angle acceleration of the fixed platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the second calculation unit is used for calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value and a roll angle speed difference value between the movable platform and the fixed platform according to the pitch angle, the roll angle, the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the third calculation unit is used for calculating a pitch angle acceleration difference value between the movable platform and the fixed platform by adopting a PI control algorithm according to the pitch angle acceleration, the pitch angle and the pitch angle acceleration of the fixed platform;

and the third calculation unit is also used for calculating the roll angle acceleration difference between the movable platform and the fixed platform by adopting a PI control algorithm according to the roll angle acceleration, the roll angle and the roll angle speed of the fixed platform.

In some embodiments, the first computation submodule includes:

the first calculation unit is used for calculating the pitch angle and the roll angle of the movable platform and the fixed platform and the pitch angle acceleration and the roll angle acceleration of the fixed platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the second calculation unit is used for calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value and a roll angle speed difference value between the movable platform and the fixed platform according to the pitch angle, the roll angle, the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the third calculation unit is used for calculating a pitch angle acceleration difference value between the movable platform and the fixed platform by adopting a PI control algorithm according to the pitch angle acceleration, the pitch angle and the pitch angle acceleration of the fixed platform;

and the third calculation unit is also used for calculating the roll angle acceleration difference between the movable platform and the fixed platform by adopting a PI control algorithm according to the roll angle acceleration, the roll angle and the roll angle speed of the fixed platform.

In some embodiments, the second computation submodule includes:

the fourth calculation unit is used for calculating the vertical displacement of the movable platform and the fixed platform and the vertical acceleration of the fixed platform according to the vertical speeds of the movable platform and the fixed platform;

the fifth calculation unit is used for calculating a vertical displacement difference value and a vertical speed difference value between the fixed platform and the movable platform according to the vertical speed and the vertical displacement of the movable platform and the fixed platform;

and the sixth calculating unit is used for calculating the vertical acceleration difference between the fixed platform and the movable platform by adopting a ceiling damping control algorithm according to the vertical acceleration of the fixed platform, the vertical speed of the movable platform, the vertical displacement difference and the vertical speed difference.

Compared with the prior art, the invention has at least one of the following beneficial effects:

1. the invention is based on the moment control of the driving mechanism, the movable platform of the parallel vibration reduction mechanism with the driving shaft and the driven shaft in series-parallel connection is in a static state on a plane except the movement in the vertical direction, the influence of the rotational inertia of the load on the instability of the table top can be effectively reduced, and the power loss is reduced.

2. The parallel robot dynamics model is solved through the spiral theory, and compared with the traditional dynamics calculation methods such as the Lagrange method, the parallel robot dynamics model has a simple formula and is suitable for an embedded system with high real-time requirement.

3. The invention ensures the anti-rolling performance of the mechanism by performing PI control on the poses of the pitch angle and the roll angle, simultaneously ensures that the upper table top cannot generate displacement in the horizontal direction due to the fact that the mechanism is in a driving shaft and driven shaft hybrid connection mode, basically ensures the stability of the damping platform in the horizontal direction, greatly reduces the acceleration generated by bottom surface excitation by controlling the vertical acceleration, and greatly improves the damping efficiency;

4. the invention is based on the control algorithm of active vibration reduction, and the vibration reduction effect and the stability of the invention are superior to the vibration reduction effect of passive vibration reduction.

Drawings

The above features, technical features, advantages and modes of realisation of the present invention will be further described in the following detailed description of preferred embodiments thereof, which is to be read in connection with the accompanying drawings.

FIG. 1 is a flow chart of one embodiment of a parallel damping mechanism control method of the present invention;

FIG. 2 is a schematic structural diagram of a parallel damping mechanism of the present invention;

FIG. 3 is a time domain plot of cylinder output for four combinations of excitations in accordance with an embodiment of the present invention;

FIG. 4 is a time domain plot of electric cylinder output error in accordance with an embodiment of the present invention;

FIG. 5 shows the results of Adams and Simulink co-simulation according to an embodiment of the present invention;

FIG. 6 is a block diagram of a control algorithm in accordance with an embodiment of the present invention;

fig. 7 is a block diagram showing the structure of one embodiment of the parallel damping mechanism control system of the present invention.

The reference numbers illustrate:

the system comprises a first obtaining module 100, a first calculating module 200, a second obtaining module 300, a second calculating module 400 and an adjusting module 500.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, without inventive effort, other drawings and embodiments can be derived from them.

For the sake of simplicity, only the parts relevant to the invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "a" means not only "only one of this but also a case of" more than one ".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items and includes such combinations.

In addition, in the description of the present application, the terms "first," "second," and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

The parallel mechanism is a closed-loop mechanism driven in a parallel mode and comprises a movable platform and a fixed platform, wherein the movable platform and the fixed platform are connected through at least two independent kinematic chains and have two or more degrees of freedom.

In an embodiment of the present invention, as shown in fig. 1, a method for controlling a parallel damping mechanism is applied to a parallel damping mechanism, the parallel damping mechanism includes a movable platform and a fixed platform, the centers of the movable platform and the fixed platform are connected through a passive connection mechanism, the movable platform is fixedly connected with the passive connection mechanism, the fixed platform is movably connected with the passive connection mechanism, four corners of the movable platform and four corners of the fixed platform are movably connected through active connection mechanisms, and the active connection mechanisms are driven by a driving mechanism, and the method includes the steps of:

s100, respectively acquiring pose information of the movable platform and the fixed platform, wherein the pose information comprises pitch angle speed, roll angle speed and vertical speed;

specifically, the pose information of the movable platform and the fixed platform is acquired through the sensors, and because data directly measured by the sensors have errors and drifts to a certain degree, the platform displacement can be rapidly dispersed by directly using the data, and the accurate pose information of the movable platform and the fixed platform can be acquired through a complementary filtering mode.

S200, respectively calculating a momentum equation of a central point of the movable platform, a first movable connection point and a second movable connection point, wherein the momentum equation comprises a speed momentum equation and a force momentum equation, the first movable connection point is a connection point of the active connection mechanism and the movable platform, and the second movable connection point is a connection point of the active connection mechanism and the fixed platform and a connection point of the passive connection mechanism and the fixed platform;

s300, performing dynamic modeling on the parallel damping mechanism according to a momentum equation to obtain a dynamic model of the parallel damping mechanism;

specifically, the momentum equations of the center point of the movable platform, the first movable connection point and the second movable connection point are respectively calculated, the momentum equations comprise a speed momentum equation and a force momentum equation, and a dynamic model of the parallel vibration reduction mechanism is established according to the calculation result.

S400, calculating the control force of the driving mechanism according to the pose information and the dynamic model of the movable platform and the fixed platform;

and S500, controlling the active connecting mechanism according to the control force, and adjusting the pose information of the movable platform.

Specifically, the output of each driving mechanism can be calculated through dynamic modeling, and the active connecting mechanism is controlled through the output of each driving mechanism, so that the active connecting mechanism adjusts the pose information of the movable platform, and the balance of the movable platform under different postures is maintained.

In the embodiment, the parallel vibration damping mechanism is adopted, the accurate dynamic model of the parallel vibration damping mechanism is established, and the multi-dimensional attitude control is carried out on the vibration damping platform based on the dynamic model, so that the method is applicable to a real-time embedded system, the reaction speed of the driving mechanism is improved, the driving mechanism can be excited along with the road surface in a bumpy environment during high-frequency vibration, and a relatively ideal vibration damping effect is achieved; based on the control force of the driving mechanism, the pose information of the movable platform is adjusted, the stability of the parallel vibration reduction mechanism in the horizontal direction is ensured, and the vibration reduction effect is enhanced.

In one embodiment, step S200 includes:

s210, establishing a satellite coordinate system according to the central points of the movable platform and the fixed platform;

specifically, as shown in fig. 2, the parallel vibration reduction mechanism is in a structure of 4UPS + UP, four shafts between the upper platform and the lower platform form a UPS branched chain (U represents a hooke joint, P represents a sliding pair, and S represents a spherical joint) by hooke joints, electric cylinders of motors and spherical joints, the upper portion of the spring damper in the center is fixedly connected with the upper table top, and the lower portion of the spring damper is connected with the lower table top by hooke joints to form a UP branched chain (U represents a hooke joint, and P represents a sliding pair).

The four UPS branched chains actively control the length of the branched chains through electric cylinders of motors to serve as driving shafts, and can control an upper platform (a movable platform) to move on three independent degrees of freedom relative to a lower platform (a fixed platform); the UP branched chain in the center plays a role of passive vibration reduction through the spring damper, and passively changes according to the distance between the centers of the upper platform and the lower platform to serve as a passive branched chain.

By the central point O of the bottom plate (fixed platform) _D Is the origin point, and is the center point O of the upper table surface (movable platform) _P Respectively establishing a satellite coordinate system O of the fixed platform and the movable platform as an origin _D X _D Y _D Z _D And O _P X _P Y _P Z _P The hinge points of the four UPS branched chains of the lower table top and the hinge point of the UP branched chain at the center of the lower table top are marked as D _i (i =1,2,3,4,5), the hinge points of the four UPS branches of the upper deck are marked P _i (i＝1,2,3,4)。

S220, calculating a velocity and momentum equation of the central point of the movable platform according to the velocity and the angular velocity of the central point of the movable platform;

specifically, the center point O of the movable platform _P In satellite system O _D X _D Y _D Z _D The lower angular velocity is ω P and the velocity is v _P Calculating the point O according to the following formula using the theory of helicity _P Velocity momentum T _P ：

Wherein H _P Is a movable platform center point O _P The speed rotation transformation matrix converts the speed rotation of the center point P of the movable platform under an inertial coordinate system into a coordinate system O of a satellite _P X _P Y _P Z _P Rotational speed of the rotor.

S230, calculating a force momentum equation of the central point of the movable platform according to the unit vector of the passive connecting mechanism in the stretching direction and the acceleration, the angular velocity and the angular acceleration of the central point of the movable platform;

specifically, the center point O of the movable platform is calculated according to the following formula by using the spiral theory _P Equation of force vorticity W _P ：

Wherein s is ₀ Is a unit vector of the stretching direction of the passive connecting mechanism,

is O _P Acceleration of (c), ω _P Is O _P The angular velocity of the (c) is,

is O _P Angular acceleration of (m) _P Is the mass of the upper table top, c _P To show the center of mass to O _P The distance of (a) to (b),

is tensor of inertia

Linear parameter of (1), G _P A matrix of coefficients representing the front of the moment of inertia;

in the above formula, the first and second carbon atoms are,

G _P can be represented by the formula

And obtaining the result by reverse calculation, wherein,

is a movable platform in a following coordinate system O _P X _P Y _P Z _P A lower three-dimensional angular velocity vector;

for moving the platform in the coordinate system O _P X _P Y _P Z _P The lower three-dimensional angular acceleration vector.

S240, calculating the angular speed and the driving wire speed of the active connecting mechanism according to the unit vector of the active connecting structure in the telescopic direction, the speed of the central point of the movable platform, the angular speed of the central point of the movable platform and the coordinate of the first movable connecting point in the fixed platform random coordinate system;

specifically, let the mobile platform be in the satellite system O _D X _D Y _D Z _D Lower point O _P At an angular velocity vector of ω _P Angular acceleration vector of

The first movable connection point P _i The speed of (d) can be expressed as:

wherein v is _P Speed of the center point of the moving platform, b _i Is a first movable connection point P _i In an object coordinate system O _D X _D Y _D Z _D Coordinate of lower, ω _i For the angular velocity of the active coupling mechanism, /) _i In order to be the length of the active connection mechanism,

drive line speed for each active connection，s _i ＝l _i /l _i The unit vector is the stretching direction of each active connecting mechanism;

dot multiplication and cross multiplication s on two sides of upper formula respectively _i The drive line speed of the active connection mechanism can be obtained

And angular velocity ω _i ：

And the method is used for calculating the rotation equation of the first movable connecting point and the second movable connecting point.

S250, calculating the angular acceleration of the active connecting mechanism according to the angular velocity and the driving wire velocity of the active connecting mechanism and the acceleration of the central point of the movable platform;

in particular, for the first movable connection point P _i Is differentiated to obtain a point P _i Acceleration of (2):

wherein,

is a center point O of the fixed platform _D The acceleration of (a) is detected,

is point O _D Angular acceleration of, omega _D Is point O _D The angular velocity of (a) is,

is a point P _i Arrival follow-up coordinate system O _P X _P Y _P Z _P Origin O of following coordinate system of lower fixed platform _D Is determined by the displacement vector of (a),

being corners of active coupling mechanismsThe acceleration of the vehicle is measured by the acceleration sensor,

driving line acceleration for active coupling mechanisms,/ _i In order to be the length of the active connection mechanism,

driving line speed, omega, for active coupling mechanisms _i Is the angular velocity of the active coupling mechanism;

dot multiplication and cross multiplication s respectively on two sides of the above formula _i The angular acceleration of the active connection mechanism can be obtained

S260, calculating a speed and rotation equation of the first movable connecting point and the second movable connecting point according to the speed of the first movable connecting point and the angular speed of the active connecting mechanism;

in particular, using the theory of helicity, the point P is obtained from the above calculation _i Speed of (2)

Angular velocity ω of the active coupling mechanism _i The first movable connection point P is calculated by the following formula _i Velocity momentum of

And a second movable connection point D _i Rotational speed of

Wherein,

symbol S<x>Is an antisymmetric matrix.

S270, calculating a force momentum equation of the first movable connection point and the second movable connection point according to the acceleration of the first movable connection point, the angular velocity of the active connection mechanism, the angular acceleration of the active connection mechanism, the unit vector of the expansion direction of the active connection mechanism and the mass parameter of the parallel vibration reduction mechanism.

Specifically, the quality parameters of the parallel damping mechanism include: winding point P of upper half part of UPS branch chain under satellite system _i Tensor of inertia

Tensor of inertia

Linear parameter of

Mass m of the upper half of each branch _ui And the distance c from the upper hinge point of each branched chain to the mass center of the upper half part _ui The lower half of each branch chain has a mass m _di C, the distance from the lower hinge point of each branched chain to the lower half part mass center _di Winding point D of the lower half part of the UPS branch chain under the satellite system _i Tensor of inertia

Tensor of inertia

Linear parameter of

These quality parameters are obtained in real time during the calculation process.

Using the theory of helicity, the point P is obtained from the above calculation _i Acceleration of

Angular velocity ω of the active coupling mechanism _i Angular acceleration of the active coupling mechanism

Azimuth vector s of active connecting mechanism in telescopic direction _i Calculating the equation of the force momentum of the first movable joint by the following formula

And the equation of the force momentum of the second movable connecting point

Wherein g is the acceleration of gravity, m _ui Mass of the upper half of the UPS branch chain, c _ui Representing centroid to P _i The distance of (a) to (b),

the upper half part of the UPS branch chain winds a point P under the satellite system _i The tensor of the inertia of (a) is,

is tensor of inertia

A linear parameter of (a);

in the above formula, the first and second carbon atoms are,

wherein,

the three-dimensional angular acceleration vector of which the rotating shaft is an x axis under the joint space of each electric cylinder branched chain is the center of mass of each electric cylinder branched chain,

is a three-dimensional angular velocity vector with the rotating shaft of the barycenter of each electric cylinder branched chain as the x axis in the joint space of each electric cylinder branched chain,

the three-dimensional angular velocity vector is a three-dimensional angular velocity vector with a rotating shaft of the center of mass of each electric cylinder branched chain as a y axis in the joint space of each electric cylinder branched chain;

wherein g is the acceleration of gravity, m _di The mass of the lower half of the UPS branch chain, c _di Representing centroid to D _i The distance of (a) to (b),

the lower half part of the UPS branch chain winds around a point D under a satellite system _i The tensor of inertia of the first magnetic field,

is tensor of inertia

The linear parameter of (a) is,

in the embodiment, each part of the parallel damping mechanism is decomposed through a spiral theory, and a velocity momentum equation and a force momentum equation of each part of the parallel damping mechanism in a joint space are obtained.

On the basis of the embodiment, the parallel damping mechanism is dynamically modeled according to the virtual power principle by the following formula:

wherein F is the output force vector of the electric cylinder, F _f Is the vector of the friction force of the electric cylinder,

is a velocity vector equation of the first movable joint,

is a force momentum equation of the first active attachment point,

is a velocity momentum equation for the second movable attachment point,

is the equation of the force momentum of the second movable joint, T _P Is the velocity-momentum equation of the center point of the moving platform, W _P A force momentum equation of the central point of the movable platform;

since the UPS branches have no freedom of spin, so ω _i ·s _i =0, one can obtain:

according to the formula, a dynamic model of the parallel vibration reduction mechanism is obtained by combining a reverse Jacobian matrix:

wherein, J _inv Is a reverse Jacobian matrix; p is a radical of formula _di The lower half of each branch is taken as a quality parameter, and the parameters are generally consistent in size, i.e., p is defaulted _d ＝p _di Similarly, it is assumed that the mass parameter of the upper half of each branch is equal in magnitude, i.e. p _u ＝p _ui By the analogy, the method can be used,

as shown in fig. 3, the diagram at the upper left corner shows the simulation result of the output of the four electric cylinder branched chains when the pitch angle of the lower table top is an amplitude value of ± 6 °, the frequency is a 0.1Hz sine curve, the roll angle is ± 4 °, and the frequency is a 0.1Hz sine curve; the icon at the upper right corner shows the output simulation result of the four electric cylinder branched chains when the pitch angle of the lower table top is a sine curve with the amplitude of +/-3 degrees and the frequency of 0.5Hz, the roll angle is +/-5 degrees and the frequency of 0.5 Hz; the diagram at the lower left corner shows the output simulation result of four electric cylinder branched chains when the pitch angle of the lower table top is a sine curve with the amplitude of +/-3 degrees and the frequency of 0.5 Hz; the lower right-hand graph shows the simulation result of the output of the four electric cylinder branched chains when the pitch angle of the lower table top is a sine curve with amplitude of +/-4 degrees and frequency of 1Hz, the roll angle is +/-6 degrees and the frequency is a sine curve with frequency of 1 Hz.

An equation is constructed in Matlab according to the dynamic model, mass parameters of each part of the parallel mechanism are obtained from Adams and are brought into the dynamic model, real-time output of four electric cylinders is calculated by utilizing time domain excitation of four different pitch and roll sine curves, the output is subtracted from the Adams simulation result in fig. 3, the obtained error value is shown in fig. 4, the diagram at the upper left corner shows that the pitch angle of a lower table top is amplitude +/-6 degrees, the frequency is 0.1Hz sine curve, the roll angle is +/-4 degrees, and when the frequency is 0.1Hz sine curve, the output simulation of the branched chains of the four electric cylinders and the result error calculated by the dynamic model are error; the icon at the upper right corner shows that when the pitch angle of the lower table top is a sine curve with the amplitude of +/-3 degrees and the frequency of 0.5Hz, the roll angle is +/-5 degrees and the frequency of 0.5Hz, the result errors of the output simulation and the dynamic model calculation of the four electric cylinder branched chains are caused; the diagram at the lower left corner shows that when the pitch angle of the lower table top is an amplitude value +/-3 degrees and the frequency is a sine curve of 0.5Hz, the result errors of the output simulation and the dynamic model calculation of the four electric cylinder branched chains are caused; the lower right-hand corner icon shows that when the pitch angle of the lower table top is a sine curve with amplitude of +/-4 degrees and frequency of 1Hz, the roll angle is +/-6 degrees and the frequency is a sine curve with frequency of 1Hz, the result errors of the output simulation and the dynamic model calculation of the four electric cylinder branched chains are obtained.

As can be seen from FIG. 4, the output of each electric cylinder can reach 350N at most, the error does not exceed 5N at most, and the result of the obtained dynamic model is verified to be accurate. In the embodiment, the virtual power theorem is utilized to solve the sum of the product of the velocity vector and the force vector of each part of the parallel vibration reduction mechanism, and the sum is substituted into the jacobian matrix to complete the modeling of the dynamics of the parallel mechanism.

In one embodiment, step S400 includes:

s401, calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value, a roll angle speed difference value, a pitch angle acceleration difference value and a roll angle acceleration difference value between the fixed platform and the movable platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

s402, calculating a vertical error value between the fixed platform and the movable platform according to the vertical speeds of the movable platform and the fixed platform, wherein the vertical error value comprises a vertical displacement difference value, a vertical speed difference value and a vertical acceleration difference value;

and S403, substituting the pitch angle difference value, the roll angle difference value, the pitch angle speed difference value, the roll angle speed difference value, the pitch angle acceleration difference value, the roll angle acceleration difference value and the vertical error value into the dynamic model, and calculating to obtain the control force of the driving mechanism.

In the embodiment, pose error values of the fixed platform and the movable platform under three degrees of freedom of pitch, roll and vertical are obtained through calculation according to the pitch angle speed, the roll angle speed and the vertical speed of the movable platform and the fixed platform, the pose error values are substituted into a dynamic model of the parallel vibration reduction mechanism, and the control force of the driving mechanism is calculated, so that the active connecting mechanism maintains the balance of the movable platform according to the control force.

In one embodiment, step S400 includes:

s410, calculating a pitch angle and a roll angle of the movable platform and the fixed platform and a pitch angle acceleration and a roll angle acceleration of the fixed platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

specifically, the pitch angle speed of the movable platform is obtained through a sensor

Roll angle velocity of moving platform

Pitch angular velocity of fixed platform

Roll angle velocity of fixed platform

After time integration, the pitch angle alpha of the movable platform is obtained _P Rolling angle beta of moving platform _P Fixed platform pitch angle alpha _D Transverse rolling angle beta of fixed platform _D Obtaining the pitch angle acceleration of the fixed platform after time derivation

Roll angular acceleration of fixed platform

S411, calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value and a roll angle speed difference value between the movable platform and the fixed platform according to the pitch angle, the roll angle, the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

s412, calculating a pitch angle acceleration difference value between the movable platform and the fixed platform by adopting a PI control algorithm according to the pitch angle acceleration, the pitch angle and the pitch angle acceleration of the fixed platform;

s413, calculating a roll angle acceleration difference value between the movable platform and the fixed platform by adopting a PI control algorithm according to the roll angle acceleration, the roll angle and the roll angle speed of the fixed platform;

in particular, in order to maintain the balance of the movable platform, a mechanism is required to compensate the angle alpha in the pitching and rolling angle directions of the fixed platform at the moment _D ,β _D Need to be controlled by the rotation of the mechanism

And-alpha _P ,-β _P The angle of (2) tends to 0 to ensure the balance of the upper table-board;

by PI control, we set:

wherein k is _α 、k _β 、c _α 、c _β Is a PI control parameter.

S414, calculating the vertical displacement of the movable platform and the fixed platform and the vertical acceleration of the fixed platform according to the vertical speeds of the movable platform and the fixed platform;

specifically, the vertical speed of the movable platform is obtained through a sensor

And the vertical speed of the stationary platform

Respectively obtaining the vertical displacement z of the movable platform and the fixed platform through the integral of time _P 、z _D Obtaining the vertical acceleration of the fixed platform by derivation of time

S415, calculating a vertical displacement difference value and a vertical speed difference value between the fixed platform and the movable platform according to the vertical speed and the vertical displacement of the movable platform and the fixed platform;

s416, calculating a vertical acceleration difference value between the fixed platform and the movable platform by adopting a ceiling damping control algorithm according to the vertical acceleration of the fixed platform, the vertical speed of the movable platform, the vertical displacement difference value and the vertical speed difference value;

specifically, a vertical error value is calculated through a skyhook damping algorithm:

wherein k is _z 、c _z 、s _z Is a ceiling damping control parameter.

S417, substituting the pitch angle difference, the roll angle difference, the pitch angle velocity difference, the roll angle velocity difference, the pitch angle acceleration difference, the roll angle acceleration difference and the vertical error value into the dynamic model, and calculating to obtain the control force of the driving mechanism;

specifically, the calculated values of Δ α, Δ β, Δ z,

The dynamic model phi of the parallel vibration damping mechanism is substituted into the dynamic model phi according to a formula

And calculating the control force of the driving mechanism, so that the driving mechanism can control the active connecting mechanism according to the control force to drive the active connecting mechanism to adjust the balance of the movable platform.

In the Adams and Simulink combined simulation, the excitation of the fixed platform adopts the combination of pitching and rolling excitation and vertical excitation on the center of a vehicle body chassis when a vehicle is on a D-level road surface at the speed of 30km/h, the vehicle is generated by a white noise method, the parallel vibration reduction mechanism is controlled by adopting the method, the simulation result is shown in figure 5, and the vertical acceleration is 3.5m/s from the vertical acceleration peak value of the fixed platform ² The peak value of the vertical acceleration of the moving platform is 0.6m/s ² The reduction is about 80 percent; meanwhile, the pitch angle and the roll angle are reduced from 2 degrees and 3 degrees of the fixed platform to 0.05 degree and 0.1 degree of the movable platform surface, so that the scheme is considered to greatly improve the vibration reduction efficiency.

The control algorithm block diagram in the embodiment is shown in fig. 6, and the anti-rolling performance of the mechanism is ensured by performing PI control on the positions of the pitch angle and the roll angle; by performing ceiling damping control on the vertical acceleration, the acceleration generated by bottom surface excitation is greatly reduced, and the vibration reduction efficiency is greatly improved.

In one embodiment, on the basis of the above embodiment, step S500 is followed by:

s600, acquiring current pose information of the movable platform in real time;

s700, adjusting the control force of the driving mechanism according to the pose information of the fixed platform and the current pose information.

According to the embodiment, the control force of the driving mechanism can be calculated according to the current pose information of the movable platform, and the pose of the movable platform is controlled in real time according to the control force.

In an embodiment of the present invention, as shown in fig. 7, a parallel damping mechanism control system is applied to a parallel damping mechanism, the parallel damping mechanism includes a movable platform and a fixed platform, the centers of the movable platform and the fixed platform are connected through a passive connection mechanism, the movable platform is fixedly connected to the passive connection mechanism, the fixed platform is movably connected to the passive connection mechanism, four corners of the movable platform and the fixed platform are movably connected through active connection mechanisms, the active connection mechanisms are driven by a driving mechanism, and the parallel damping mechanism control system includes a first obtaining module 100, a first calculating module 200, a second obtaining module 300, a second calculating module 400, and an adjusting module 500, wherein:

the first obtaining module 100 is configured to obtain pose information of the movable platform and the fixed platform, where the pose information includes a pitch angle velocity, a roll angle velocity, and a vertical velocity;

the first calculation module 200 is configured to calculate a momentum equation of a central point of the moving platform, a first movable connection point, and a second movable connection point, where the momentum equation includes a velocity momentum equation and a force momentum equation, the first movable connection point is a connection point between the driving mechanism and the moving platform, and the second movable connection point is a connection point between the driving mechanism and the fixed platform and a connection point between the passive connection mechanism and the fixed platform;

the second obtaining module 300 is configured to perform dynamic modeling on the parallel damping mechanism according to the momentum equation to obtain a dynamic model of the parallel damping mechanism;

the second calculation module 400 is configured to calculate a control force of the driving mechanism according to the pose information of the movable platform and the fixed platform and the dynamic model;

and an adjusting module 500, configured to control the active connection mechanism according to the control force, and adjust the pose information of the mobile platform.

In one embodiment, the second computation module comprises a first computation submodule, a second computation submodule, and a third computation submodule, wherein:

the first calculation submodule is used for calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value, a roll angle speed difference value, a pitch angle acceleration difference value and a roll angle acceleration difference value between the fixed platform and the movable platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the second calculation submodule is used for calculating a vertical error value between the fixed platform and the movable platform according to the vertical speeds of the movable platform and the fixed platform, wherein the vertical error value comprises a vertical displacement difference value, a vertical speed difference value and a vertical acceleration difference value;

and the third calculation sub-module is used for substituting the pitch angle difference value, the roll angle difference value, the pitch angle speed difference value, the roll angle speed difference value, the pitch angle acceleration difference value, the roll angle acceleration difference value and the vertical error value into the dynamic model to calculate and obtain the control force of the driving mechanism.

In one embodiment, the first computing submodule includes a first computing unit, a second computing unit, and a third computing unit, wherein:

the first calculation unit is used for calculating the pitch angle and the roll angle of the movable platform and the fixed platform and the pitch angle acceleration and the roll angle acceleration of the fixed platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the second calculation unit is used for calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value and a roll angle speed difference value between the movable platform and the fixed platform according to the pitch angle, the roll angle, the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the third calculation unit is used for calculating a pitch angle acceleration difference value between the movable platform and the fixed platform by adopting a PI control algorithm according to the pitch angle acceleration, the pitch angle and the pitch angle acceleration of the fixed platform;

and the third calculation unit is also used for calculating the roll angle acceleration difference between the movable platform and the fixed platform by adopting a PI control algorithm according to the roll angle acceleration, the roll angle and the roll angle speed of the fixed platform.

In one embodiment, the second calculation submodule includes a fourth calculation unit, a fifth calculation unit, and a sixth calculation unit, wherein:

the fourth calculation unit is used for calculating the vertical displacement of the movable platform and the fixed platform and the vertical acceleration of the fixed platform according to the vertical speeds of the movable platform and the fixed platform;

the fifth calculation unit is used for calculating a vertical displacement difference value and a vertical speed difference value between the fixed platform and the movable platform according to the vertical speed and the vertical displacement of the movable platform and the fixed platform;

and the sixth calculating unit is used for calculating the vertical acceleration difference between the fixed platform and the movable platform by adopting a skyhook damping control algorithm according to the vertical acceleration of the fixed platform, the vertical speed of the movable platform, the vertical displacement difference and the vertical speed difference.

It should be noted that the embodiment of the parallel damping mechanism control system according to the present invention and the embodiment of the parallel damping mechanism control method according to the present invention are based on the same inventive concept and can achieve the same technical effects, and therefore, other specific contents of the embodiment of the parallel damping mechanism control system can be referred to the description of the embodiment of the parallel damping mechanism control method.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims (11)

1. The utility model provides a parallelly connected damping mechanism control method, its characterized in that is applied to parallelly connected damping mechanism, parallelly connected damping mechanism is including moving the platform and deciding the platform, move the platform with the central authorities of deciding the platform are connected through passive coupling mechanism, move the platform with passive coupling mechanism rigid coupling, decide the platform with passive coupling mechanism swing joint, just move the platform with the four corners of deciding the platform all is through initiative coupling mechanism swing joint, initiative coupling mechanism is driven by actuating mechanism, include:

respectively acquiring pose information of the movable platform and the fixed platform, wherein the pose information comprises a pitch angle speed, a roll angle speed and a vertical speed;

respectively calculating the momentum equations of a central point of a movable platform, a first movable connecting point and a second movable connecting point, wherein the momentum equations comprise a speed momentum equation and a force momentum equation, the first movable connecting point is a connecting point of the active connecting mechanism and the movable platform, and the second movable connecting point is a connecting point of the active connecting mechanism and the fixed platform and a connecting point of the passive connecting mechanism and the fixed platform;

according to the momentum equation, performing dynamic modeling on the parallel vibration reduction mechanism to obtain a dynamic model of the parallel vibration reduction mechanism;

calculating the control force of the driving mechanism according to the pose information of the movable platform and the fixed platform and the dynamic model;

and controlling the active connecting mechanism according to the control force, and adjusting the pose information of the movable platform.

2. The parallel vibration damping mechanism control method according to claim 1, wherein the calculating of the control force of the drive mechanism based on the pose information and the dynamic model includes:

calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value, a roll angle speed difference value, a pitch angle acceleration difference value and a roll angle acceleration difference value between the fixed platform and the movable platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

calculating a vertical error value between the fixed platform and the movable platform according to the vertical speeds of the movable platform and the fixed platform, wherein the vertical error value comprises a vertical displacement difference value, a vertical speed difference value and a vertical acceleration difference value;

and substituting the pitch angle difference value, the roll angle difference value, the pitch angle speed difference value, the roll angle speed difference value, the pitch angle acceleration difference value, the roll angle acceleration difference value and the vertical error value into the dynamic model, and calculating to obtain the control force of the driving mechanism.

3. The method for controlling a parallel vibration damping mechanism according to claim 2, wherein the calculating of the pitch angle difference, roll angle difference, pitch angle acceleration difference, roll angle acceleration difference between the fixed platform and the movable platform according to the pitch angle velocity and roll angle velocity of the movable platform and the fixed platform comprises:

calculating the pitch angle and the roll angle of the movable platform and the fixed platform and the pitch angle acceleration and the roll angle acceleration of the fixed platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value and a roll angle speed difference value between the movable platform and the fixed platform according to the pitch angle, the roll angle, the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

calculating a pitch angle acceleration difference value between the movable platform and the fixed platform by adopting a PI control algorithm according to the pitch angle acceleration, the pitch angle and the pitch angle acceleration of the fixed platform;

and calculating the roll angle acceleration difference between the movable platform and the fixed platform by adopting a PI control algorithm according to the roll angle acceleration, the roll angle and the roll angle speed of the fixed platform.

4. The method as claimed in claim 2, wherein the calculating a vertical error value between the fixed platform and the movable platform according to the vertical speeds of the movable platform and the fixed platform comprises:

calculating the vertical displacement of the movable platform and the fixed platform and the vertical acceleration of the fixed platform according to the vertical speeds of the movable platform and the fixed platform;

calculating a vertical displacement difference value and a vertical speed difference value between the fixed platform and the movable platform according to the vertical speed and the vertical displacement of the movable platform and the fixed platform;

and calculating the vertical acceleration difference between the fixed platform and the movable platform by adopting a skyhook damping control algorithm according to the vertical acceleration of the fixed platform, the vertical speed of the movable platform, the vertical displacement difference and the vertical speed difference.

5. The method as claimed in claim 1, wherein the step of performing a dynamic modeling on the parallel damping mechanism according to the vorticity equation to obtain a dynamic model of the parallel damping mechanism comprises:

performing dynamic modeling on the parallel damping mechanism according to the following formula:

wherein,

is the drive line speed of the coupling mechanism, F is the cylinder output force vector, F _f Is the vector of the friction force of the electric cylinder,

is the speed rotation of the first articulation point,

is the amount of torque of the first articulation point,

is the speed spin of the second articulation point,

is the amount of rotation of the second point of articulation, T _P Is the velocity momentum of the center point of the moving platform, W _P The force rotation quantity of the central point of the movable platform is taken as the force rotation quantity of the central point of the movable platform;

and according to the formula, combining a reverse Jacobian matrix to obtain a dynamic model of the parallel vibration reduction mechanism.

6. The method for controlling the parallel vibration damping mechanism according to claim 1, wherein the calculating the respective rotation equations of the center point of the movable platform, the first movable connection point and the second movable connection point comprises:

according to the central point of the fixed platform, a satellite coordinate system is established;

calculating a velocity momentum equation of the central point of the movable platform according to the velocity and the angular velocity of the central point of the movable platform;

calculating a force momentum equation of the central point of the movable platform according to the unit vector of the passive connecting mechanism in the stretching direction and the acceleration, the angular velocity and the angular acceleration of the central point of the movable platform;

calculating the angular velocity and the driving line velocity of the active connection mechanism according to the unit vector of the active connection structure in the extension direction, the velocity of the center point of the movable platform, the angular velocity of the center point of the movable platform and the coordinate of the first movable connection point in a random coordinate system;

calculating the angular acceleration of the active connecting mechanism according to the angular velocity and the driving line velocity of the active connecting mechanism and the acceleration of the center point of the movable platform;

calculating a velocity momentum equation for the first and second moveable attachment points based on the velocity of the first moveable attachment point and the angular velocity of the active attachment mechanism;

and calculating a force momentum equation of the first movable connection point and the second movable connection point according to the acceleration of the first movable connection point, the angular velocity of the active connection mechanism, the angular acceleration of the active connection mechanism, the unit vector of the expansion direction of the active connection mechanism and the mass parameter of the parallel vibration reduction mechanism.

7. The method for controlling a parallel vibration damping mechanism according to any one of claims 1-6, wherein said controlling said active coupling mechanism according to said control force, after adjusting said pose information of said movable platform, comprises:

acquiring current pose information of the movable platform in real time;

and adjusting the control force of the driving mechanism according to the pose information of the fixed platform and the current pose information.

8. The utility model provides a parallelly connected damping mechanism control system which characterized in that is applied to parallelly connected damping mechanism, parallelly connected damping mechanism is including moving the platform and deciding the platform, move the platform with the central authorities of deciding the platform are connected through passive coupling mechanism, move the platform with passive coupling mechanism rigid coupling, decide the platform with passive coupling mechanism swing joint, just move the platform and decide the four corners of platform and all through initiative coupling mechanism swing joint, initiative coupling mechanism is driven by actuating mechanism, include:

the first acquisition module is used for respectively acquiring pose information of the movable platform and the fixed platform, wherein the pose information comprises a pitch angle speed, a roll angle speed and a vertical speed;

the first calculation module is used for calculating the momentum equations of a central point of a movable platform, a first movable connection point and a second movable connection point respectively, the momentum equations comprise a speed momentum equation and a force momentum equation, the first movable connection point is a connection point of the driving mechanism and the movable platform, and the second movable connection point is a connection point of the driving mechanism and the fixed platform and a connection point of the passive connection mechanism and the fixed platform;

the second acquisition module is used for carrying out dynamic modeling on the parallel vibration reduction mechanism according to the momentum equation to obtain a dynamic model of the parallel vibration reduction mechanism;

the second calculation module is used for calculating the control force of the driving mechanism according to the pose information of the movable platform and the fixed platform and the dynamic model;

and the adjusting module is used for controlling the active connecting mechanism according to the control force and adjusting the pose information of the movable platform.

9. The parallel damping mechanism control system of claim 8, wherein the second calculation module comprises:

the first calculation submodule is used for calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value, a roll angle speed difference value, a pitch angle acceleration difference value and a roll angle acceleration difference value between the fixed platform and the movable platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the second calculation submodule is used for calculating a vertical error value between the fixed platform and the movable platform according to the vertical speeds of the movable platform and the fixed platform, wherein the vertical error value comprises a vertical displacement difference value, a vertical speed difference value and a vertical acceleration difference value;

and the third calculation operator module is used for substituting the pitch angle difference value, the roll angle difference value, the pitch angle speed difference value, the roll angle speed difference value, the pitch angle acceleration difference value, the roll angle acceleration difference value and the vertical error value into the dynamic model to calculate and obtain the control force of the driving mechanism.

10. The parallel damping mechanism control system of claim 9, wherein the first calculation submodule comprises:

the first calculation unit is used for calculating the pitch angle and the roll angle of the movable platform and the fixed platform and the pitch angle acceleration and the roll angle acceleration of the fixed platform according to the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the second calculation unit is used for calculating a pitch angle difference value, a roll angle difference value, a pitch angle speed difference value and a roll angle speed difference value between the movable platform and the fixed platform according to the pitch angle, the roll angle, the pitch angle speed and the roll angle speed of the movable platform and the fixed platform;

the third calculation unit is used for calculating a pitch angle acceleration difference value between the movable platform and the fixed platform by adopting a PI control algorithm according to the pitch angle acceleration, the pitch angle and the pitch angle acceleration of the fixed platform;

and the third calculation unit is also used for calculating the roll angle acceleration difference between the movable platform and the fixed platform by adopting a PI control algorithm according to the roll angle acceleration, the roll angle and the roll angle speed of the fixed platform.

11. The parallel damping mechanism control system of claim 9, wherein the second calculation submodule comprises:

the fourth calculation unit is used for calculating the vertical displacement of the movable platform and the fixed platform and the vertical acceleration of the fixed platform according to the vertical speeds of the movable platform and the fixed platform;

the fifth calculation unit is used for calculating a vertical displacement difference value and a vertical speed difference value between the fixed platform and the movable platform according to the vertical speed and the vertical displacement of the movable platform and the fixed platform;

and the sixth calculating unit is used for calculating the vertical acceleration difference between the fixed platform and the movable platform by adopting a ceiling damping control algorithm according to the vertical acceleration of the fixed platform, the vertical speed of the movable platform, the vertical displacement difference and the vertical speed difference.

Images