CN1996174A - Complex control method for six freedom-degree motion simulator - Google Patents
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Abstract
本发明提供了一种提高六自由度运动模拟器正弦信号跟踪精度的幅相控制技术。它包括以下计算机系统可以实现的步骤：设定位姿步骤，反解步骤，闭环控制步骤，正解步骤，位姿反馈步骤和输出步骤，本发明在六自由度运动模拟器的控制系统中加入幅相控制器，经过几次迭代计算后使系统输出的正弦信号能够准确地跟踪给定的正弦信号，实现在六自由度运动模拟器上完成高精度正弦波复现的目的。The invention provides an amplitude and phase control technology for improving the tracking precision of a six-degree-of-freedom motion simulator for sinusoidal signals. It includes the following steps that can be realized by the computer system: the step of setting the pose, the reverse solution step, the closed-loop control step, the positive solution step, the pose feedback step and the output step. The present invention adds amplitude to the control system of the six degrees of freedom motion simulator. The phase controller, after several iterative calculations, enables the sinusoidal signal output by the system to accurately track the given sinusoidal signal, achieving the purpose of high-precision sine wave reproduction on the six-degree-of-freedom motion simulator.
Description
(一)技术领域(1) Technical field
本发明涉及控制领域，特别涉及一种能够提高六自由度运动模拟器正弦信号跟踪精度的幅相控制技术。The invention relates to the field of control, in particular to an amplitude-phase control technology capable of improving the tracking accuracy of sinusoidal signals of a six-degree-of-freedom motion simulator.
(二)技术背景(2) Technical background
六自由度运动模拟器是一种用于环境试验模拟的大型机电设备，可以实现海况、路况和飞行姿态等多种条件下的环境仿真。六自由度运动模拟器主要包括液压缸，伺服阀，运动平台，上、下连接铰链和相关液压管路系统等部件，能够在液压能源系统和控制系统的驱动与控制作用下完成相应的运动。然而，在正弦波试验中由于系统频宽的限制，六自由度运动模拟器的输出存在幅值衰减和相位滞后，影响正弦波试验效果。因此，为了实现高精度正弦波复现的目的，必须采用新的控制方式和控制器对信号进行跟踪控制，而目前市场上还没有相应的方法可以有效解决问题。The six-degree-of-freedom motion simulator is a large-scale electromechanical device used for environmental test simulation, which can realize environmental simulation under various conditions such as sea conditions, road conditions, and flight attitudes. The six-degree-of-freedom motion simulator mainly includes hydraulic cylinders, servo valves, motion platforms, upper and lower connecting hinges, and related hydraulic pipeline systems, which can complete corresponding motions under the drive and control of hydraulic energy systems and control systems. However, due to the limitation of the system bandwidth in the sine wave test, the output of the six-degree-of-freedom motion simulator has amplitude attenuation and phase lag, which affects the effect of the sine wave test. Therefore, in order to achieve the purpose of high-precision sine wave reproduction, a new control method and controller must be used to track and control the signal, but there is no corresponding method on the market that can effectively solve the problem.
(三)发明内容(3) Contents of the invention
本发明的目的在于提供一种能够有效控制多路液压伺服系统协调动作、能够使系统输出的正弦信号准确地跟踪给定的正弦信号以实现在六自由度运动模拟器上完成高精度正弦波复现的目的的六自由度运动模拟器幅相控制方法。The purpose of the present invention is to provide a system that can effectively control the coordinated actions of multi-channel hydraulic servo systems, and enable the sinusoidal signal output by the system to accurately track the given sinusoidal signal, so as to realize high-precision sinusoidal wave complex on the six-degree-of-freedom motion simulator. The purpose of this paper is to control the amplitude and phase of the six-degree-of-freedom motion simulator.
本发明的目的是这样实现的：它包括以下计算机系统可以实现的步骤：The object of the present invention is achieved like this: it comprises the step that following computer system can realize:
设定位姿步骤，输入六自由度运动模拟器的设定位姿数据，通过幅相控制器模块对数据进行幅相控制，求得修正系数w0和w1，输出设定位姿数据送入反解步骤；Set the pose step, input the set pose data of the six-degree-of-freedom motion simulator, control the amplitude and phase of the data through the amplitude and phase controller module, obtain the correction coefficients w 0 and w 1 , and output the set pose data to Enter the reverse solution step;
反解步骤，将设定位姿步骤输出的设定位姿数据进行运动学反解，经运动学反解计算计算出缸长数据并输出缸长数据给闭环控制步骤；In the reverse solution step, the set pose data output by the set pose step is subjected to kinematics reverse solution, and the cylinder length data is calculated through the kinematics reverse calculation, and the cylinder length data is output to the closed-loop control step;
闭环控制步骤，将反解计算出的缸长数据经六自由度运动模拟器的驱动器位置闭环控制闭环输出缸长数据作为驱动器位置送给六自由度运动模拟器的液压缸伺服控制器；The closed-loop control step is to send the cylinder length data calculated by the inverse solution to the hydraulic cylinder servo controller of the six-degree-of-freedom motion simulator through the closed-loop control of the driver position of the six-degree-of-freedom motion simulator to output the cylinder length data as the driver position;
正解步骤，由六自由度运动模拟器送入实际缸长数据，将实际缸长数据进行实时运动正解解算六自由度运动模拟器的姿态信号，输出位姿数据给位姿反馈步骤；In the positive solution step, the six-degree-of-freedom motion simulator sends the actual cylinder length data, performs real-time motion positive solution on the actual cylinder length data to solve the attitude signal of the six-degree-of-freedom motion simulator, and outputs the pose data to the pose feedback step;
位姿反馈步骤，将正解步骤输出的位姿信号通过最小二乘算法修正设定位姿数据的幅值和相位，通过调整修正系数w0和w1调节器得到修正系数并修正设定位姿数据，将修正后的设定位姿数据送给输出步骤；In the pose feedback step, the pose signal output by the positive solution step is corrected by the least squares algorithm to set the amplitude and phase of the pose data, and the correction coefficient is obtained by adjusting the correction coefficient w 0 and the w 1 regulator, and the set pose is corrected data, send the corrected set pose data to the output step;
输出步骤，将修正后的位姿数据进行运动学反解，解算出缸长控制信号输出给驱动器位置闭环控制闭环输出驱动信号给六自由度运动模拟器。In the output step, the corrected pose data is subjected to kinematic inverse solution, and the calculated cylinder length control signal is output to the driver position closed-loop control closed-loop output drive signal to the six-degree-of-freedom motion simulator.
本发明还有这样一些技术特征：The present invention also has some technical characteristics:
1、所述的幅相控制器模块包括相移控制器、w0和w1调节器，处理过程为：将输入的设定位姿数据和经实时运动正解得到的位姿反馈信号进行比较，计算偏差，将误差送入同构的E神经网络控制器，输出网络误差并计算下一时刻的权值，将得到的权值与设定位姿数据和经相移控制器得到的位姿数据一起计算调整得到修正系数w0和w1值，输出修正系数w0和w1。1. The amplitude and phase controller module includes a phase shift controller, w 0 and w 1 regulators, and the processing process is: comparing the input set pose data with the pose feedback signal obtained through real-time motion positive solution, Calculate the deviation, send the error to the isomorphic E neural network controller, output the network error and calculate the weight at the next moment, and combine the obtained weight with the set pose data and the pose data obtained by the phase shift controller Calculate and adjust together to obtain the values of the correction coefficients w 0 and w 1 , and output the correction coefficients w 0 and w 1 .
本发明的设计思想如下：从系统的正弦响应可以看出，对于频率为口的输入信号来说，输出信号与输入信号相比，相位滞后是一个固定的值，令输入信号为：The design concept of the present invention is as follows: from the sinusoidal response of the system, it can be seen that for the input signal whose frequency is Ω, the phase lag of the output signal is a fixed value compared with the input signal, so that the input signal is:
u＝Arsinωtu＝A r sin ωt
则系统的输出表示为：Then the output of the system is expressed as:
y＝Aysin(ωt-φ)y＝A y sin(ωt-φ)
因此，只要使输入信号获得一个相应的相位提前Φ，就可以消除系统的相位滞后，即令系统的输入信号变为：Therefore, as long as the input signal obtains a corresponding phase advance Φ, the phase lag of the system can be eliminated, that is, the input signal of the system becomes:
u′＝Arsin(ωt+φ)＝ArW0 sinωt+ArW1cosωtu'＝A r sin(ωt+φ)＝A r W 0 sinωt+A r W 1 cosωt
对于一个固定的Φ直，都有一对相对应的w0和w1值，对于采样系统来说，可以通过设计一个校正网络，网络的输入分别为指令信号正弦分量u和把该正弦分量相移90°产生的余弦分量，对于两个输入分别赋予一个权值，它们的和即是补偿后的输入信号u′。这就构成了一个线性神经网络，该网络的原理如图2所示。For a fixed Φ, there is a pair of corresponding w 0 and w 1 values. For the sampling system, a correction network can be designed. The input of the network is the sinusoidal component u of the command signal and the phase shift of the sinusoidal component The cosine component generated by 90° is assigned a weight to the two inputs respectively, and their sum is the compensated input signal u′. This constitutes a linear neural network, the principle of which is shown in Figure 2.
本发明提出了一种简单可行的幅相控制方法，它通过迅速地调整六自由度运动模拟器伺服控制系统的输入正弦信号的幅值与相位可以有效地补偿由于六自由度运动模拟器频率特性对正弦运动复现精度的影响，并提高六自由度运动模拟器正弦波复现精度。The present invention proposes a simple and feasible amplitude-phase control method, which can effectively compensate the frequency characteristic of the six-degree-of-freedom motion simulator by rapidly adjusting the amplitude and phase of the input sinusoidal signal of the six-degree-of-freedom motion simulator servo control system. The impact on the reproduction accuracy of sine motion, and improve the sine wave reproduction accuracy of the six-degree-of-freedom motion simulator.
(四)附图说明(4) Description of drawings
图1是六自由度运动模拟器组成图；Figure 1 is a composition diagram of a six-degree-of-freedom motion simulator;
图2是本发明幅相控制方法原理图；Fig. 2 is a schematic diagram of the amplitude and phase control method of the present invention;
图3为位姿反解流程图；Figure 3 is a flow chart of pose inversion;
图4为位姿正解流程图；Fig. 4 is the flow chart of pose positive solution;
图5是没有幅相控制的正弦试验曲线；Figure 5 is a sinusoidal test curve without amplitude and phase control;
图6是具有幅相控制的正弦试验曲线；Fig. 6 is a sinusoidal test curve with amplitude and phase control;
图7是具有幅相控制的六自由度运动模拟器流程图；Fig. 7 is a flow chart of a six-degree-of-freedom motion simulator with amplitude and phase control;
图8为幅相控制器流程图。Figure 8 is a flowchart of the amplitude and phase controller.
(五)具体实施方式(5) Specific implementation methods
下面结合附图和实施例进一步对本发明进行说明：The present invention is further described below in conjunction with accompanying drawing and embodiment:
结合图1，六自由度运动模拟器包括：液压缸、伺服阀、伺服作动器3、运动平台1、上铰组件2、下铰组件4和相关液压管路系统等组成，在液压能源系统和控制系统的驱动与控制作用下完成相应的运动。Combined with Figure 1, the six-degree-of-freedom motion simulator includes: hydraulic cylinder, servo valve, servo actuator 3, motion platform 1, upper hinge assembly 2, lower hinge assembly 4, and related hydraulic pipeline systems. The corresponding movement is completed under the driving and control of the control system.
结合图2，本实施例包括以下计算机系统可以实现的步骤：In conjunction with FIG. 2, this embodiment includes the following steps that the computer system can implement:
设定位姿步骤，输入六自由度运动模拟器的设定位姿数据，通过幅相控制器模块对数据进行幅相控制，求得修正系数w0和w1，输出设定位姿数据送入反解步骤；Set the pose step, input the set pose data of the six-degree-of-freedom motion simulator, control the amplitude and phase of the data through the amplitude and phase controller module, obtain the correction coefficients w 0 and w 1 , and output the set pose data to Enter the reverse solution step;
反解步骤，将设定位姿步骤输出的设定位姿数据进行运动学反解，经运动学反解计算计算出缸长数据并输出缸长数据给闭环控制步骤；In the reverse solution step, the set pose data output by the set pose step is subjected to kinematics reverse solution, and the cylinder length data is calculated through the kinematics reverse calculation, and the cylinder length data is output to the closed-loop control step;
闭环控制步骤，将反解计算出的缸长数据经六自由度运动模拟器的驱动器位置闭环控制闭环输出缸长数据作为驱动器位置送给六自由度运动模拟器的液压缸伺服控制器；The closed-loop control step is to send the cylinder length data calculated by the inverse solution to the hydraulic cylinder servo controller of the six-degree-of-freedom motion simulator through the closed-loop control of the driver position of the six-degree-of-freedom motion simulator to output the cylinder length data as the driver position;
正解步骤，由六自由度运动模拟器送入实际缸长数据，将实际缸长数据进行实时运动正解解算六自由度运动模拟器的姿态信号，输出位姿数据给位姿反馈步骤；In the positive solution step, the six-degree-of-freedom motion simulator sends the actual cylinder length data, performs real-time motion positive solution on the actual cylinder length data to solve the attitude signal of the six-degree-of-freedom motion simulator, and outputs the pose data to the pose feedback step;
位姿反馈步骤，将正解步骤输出的位姿信号通过最小二乘算法修正设定位姿数据的幅值和相位，通过调整修正系数w0和w1调节器得到修正系数并修正设定位姿数据，将修正后的设定位姿数据送给输出步骤；In the pose feedback step, the pose signal output by the positive solution step is corrected by the least squares algorithm to set the amplitude and phase of the pose data, and the correction coefficient is obtained by adjusting the correction coefficient w 0 and the w 1 regulator, and the set pose is corrected data, send the corrected set pose data to the output step;
输出步骤，将修正后的位姿数据进行运动学反解，解算出缸长控制信号输出给驱动器位置闭环控制闭环输出驱动信号给六自由度运动模拟器。In the output step, the corrected pose data is subjected to kinematic inverse solution, and the calculated cylinder length control signal is output to the driver position closed-loop control closed-loop output drive signal to the six-degree-of-freedom motion simulator.
结合图3-4，运动学反解过程为输入六自由度运动模拟器的姿态数据求解缸长，包括欧拉角计算、齐次坐标变换、空间运动学计算3部分，输入的六自由度运动模拟器的姿态信号经过欧拉角计算构建齐次变换矩阵，再经过空间计算解得到液压缸的缸长信号；而运动学正解过程为输入实际的六个液压缸的位置数据，将数据输入铰点间距方程建立非线性方程组，再进行二次泰勒展开，展开后迭代求解六自由度运动模拟器转台的位置和姿态数据。Combined with Figure 3-4, the kinematics inverse solution process is to input the attitude data of the six-degree-of-freedom motion simulator to solve the cylinder length, including three parts: Euler angle calculation, homogeneous coordinate transformation, and space kinematics calculation. The input six-degree-of-freedom motion The attitude signal of the simulator constructs a homogeneous transformation matrix through the Euler angle calculation, and then obtains the cylinder length signal of the hydraulic cylinder through the space calculation solution; and the kinematics positive solution process is to input the actual position data of the six hydraulic cylinders, and input the data into the hinge The point spacing equation establishes a nonlinear equation system, and then carries out the second Taylor expansion, and iteratively solves the position and attitude data of the six-degree-of-freedom motion simulator turntable after expansion.
本实施例首先通过给定六自由度运动模拟器的姿态数据，经过校正控制后，输入六自由度运动模拟器的反解模块，反解后的缸长作为驱动器位置闭环的输出。实际缸长信息经实时运动正解模块解算六自由度运动模拟器的姿态信号，再通过最小二乘算法修正给定信号的幅值和相位，以此作为位姿控制环的输入去激励运动试验台。In this embodiment, the posture data of the six-degree-of-freedom motion simulator is first given, and after correction control, it is input to the inverse solution module of the six-degree-of-freedom motion simulator, and the cylinder length after inverse solution is used as the output of the closed-loop position of the driver. The actual cylinder length information is solved by the real-time motion forward solution module to solve the attitude signal of the six-degree-of-freedom motion simulator, and then the amplitude and phase of the given signal are corrected by the least squares algorithm, which is used as the input of the pose control loop to stimulate the motion test tower.
可见在幅相控制技术中的关键过程是：It can be seen that the key process in the amplitude and phase control technology is:
1、实时运动学正解，进而获得试验台姿态偏差；1. Real-time kinematics positive solution, and then obtain the attitude deviation of the test bench;
2、利用最小二乘算法，修正给定信号的幅值和相位，进而激励系统。2. Use the least squares algorithm to correct the amplitude and phase of the given signal, and then stimulate the system.
使用幅相控制前后，六自由度运动模拟器对正弦信号的跟踪情况如图5-6所示。The tracking situation of the sinusoidal signal by the six-degree-of-freedom motion simulator before and after using the amplitude-phase control is shown in Figure 5-6.
结合图7，幅相控制器模块包括相移控制器、w0和w1调节器。处理过程为：将输入的设定位姿数据和经实时运动正解模块得到的位姿反馈信号进行比较，计算偏差，将误差送入同构的E神经网络控制器模块，输出网络误差并计算下一时刻的权值，将得到的权值与设定位姿数据和经相移控制器得到的位姿数据一起计算调整得到修正系数w0和w1值，输出修正系数。With reference to Figure 7, the amplitude and phase controller module includes a phase shift controller, w 0 and w 1 regulators. The processing process is: compare the input set pose data with the pose feedback signal obtained by the real-time motion forward solution module, calculate the deviation, send the error to the isomorphic E neural network controller module, output the network error and calculate the following For the weight value at a moment, the obtained weight value is calculated and adjusted together with the set pose data and the pose data obtained by the phase shift controller to obtain the correction coefficient w 0 and w 1 , and the correction coefficient is output.
因此，计算机系统根据正弦给定信号和经运动学位置正解得到的姿态反馈信号，计算偏差，经非线性最小二乘，经过同构的ADLINE神经网络后，此误差就在网络误差中体现出来，并计算下一时刻的权值，实施地调整计算得到修正系数w0和w1值，并产生新的驱动信号，经运动学反解和驱动器输出控制信号与伺服阀控液压缸系统相连接，驱动六自由度运动模拟器实现模拟运动，减小误差趋势的变化，直至误差消失。权值w0和w1也趋于稳定，并使设定信号与输出量达到一致，从而实现六自由度运动模拟器的协调动作。Therefore, the computer system calculates the deviation based on the given sinusoidal signal and the attitude feedback signal obtained by the positive solution of the kinematic position. After the non-linear least squares and the isomorphic ADLINE neural network, the error is reflected in the network error. And calculate the weight value at the next moment, implement ground adjustment and calculation to obtain the correction coefficient w 0 and w 1 value, and generate a new drive signal, and connect it with the servo valve-controlled hydraulic cylinder system through the kinematics inverse solution and the output control signal of the driver. Drive the six-degree-of-freedom motion simulator to realize the simulated motion, reduce the change of the error trend until the error disappears. The weights w 0 and w 1 also tend to be stable, and make the set signal consistent with the output, so as to realize the coordinated action of the six-degree-of-freedom motion simulator.
实验证明，修正系数w0和w1经过3～4次迭代补偿后，六自由度运动模拟器输出的正弦信号能够以较高的精度跟踪给定信号。在系统频宽范围内幅值衰减优于5％，相位滞后优于5°。The experiment proves that the sinusoidal signal output by the six-degree-of-freedom motion simulator can track the given signal with high precision after the correction coefficients w 0 and w 1 are compensated for 3-4 iterations. The amplitude attenuation is better than 5% within the system bandwidth, and the phase lag is better than 5°.
结合图2-8，六自由度运动模拟器的姿态信号经过欧拉角计算构建齐次变换矩阵，在经过空间计算解得到六条液压缸的缸长信号，用于六条缸的位置闭环给定信息，实现六自由度姿态运动。而运动学正解模块是在已知六个液压缸的位置的情况下，求解转台的位置和姿态。Combined with Figure 2-8, the attitude signal of the six-degree-of-freedom motion simulator is calculated to construct a homogeneous transformation matrix through Euler angle calculation, and the cylinder length signals of the six hydraulic cylinders are obtained through space calculation solutions, which are used for the position closed-loop given information of the six cylinders , to achieve six-degree-of-freedom attitude movement. The kinematics forward solution module solves the position and attitude of the turntable when the positions of the six hydraulic cylinders are known.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170972A (en) * | 2013-01-31 | 2013-06-26 | 哈尔滨工业大学 | Method for controlling overall modal space of six-degree-of-freedom (six-DOF) parallel mechanism to prevent modal transition |
| CN103558079A (en) * | 2013-10-21 | 2014-02-05 | 哈尔滨工业大学 | Multi-degree-of-freedom loading method based on parallel mechanism driving force closed loop |
| CN105817030A (en) * | 2016-05-25 | 2016-08-03 | 上海金罡石智能科技有限公司 | Six-freedom-degree racing simulator washout control method |
| CN106339008A (en) * | 2016-11-15 | 2017-01-18 | 哈尔滨工业大学 | Freedom-degree-based six-freedom-degree motion simulator controlling method |
| CN111045438A (en) * | 2019-10-21 | 2020-04-21 | 武汉大学 | A shipborne self-stabilizing platform and its control system and method |
| CN115026876A (en) * | 2022-07-07 | 2022-09-09 | 浙江大学 | Design method and control system of 6-DOF parallel platform controller based on Zynq and HLS |
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2006
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103170972A (en) * | 2013-01-31 | 2013-06-26 | 哈尔滨工业大学 | Method for controlling overall modal space of six-degree-of-freedom (six-DOF) parallel mechanism to prevent modal transition |
| CN103170972B (en) * | 2013-01-31 | 2015-01-28 | 哈尔滨工业大学 | Method for controlling overall modal space of six-degree-of-freedom (six-DOF) parallel mechanism to prevent modal transition |
| CN103558079A (en) * | 2013-10-21 | 2014-02-05 | 哈尔滨工业大学 | Multi-degree-of-freedom loading method based on parallel mechanism driving force closed loop |
| CN103558079B (en) * | 2013-10-21 | 2015-11-25 | 哈尔滨工业大学 | Based on the multiple degrees of freedom loading method of parallel institution driving force closed loop |
| CN105817030A (en) * | 2016-05-25 | 2016-08-03 | 上海金罡石智能科技有限公司 | Six-freedom-degree racing simulator washout control method |
| CN106339008A (en) * | 2016-11-15 | 2017-01-18 | 哈尔滨工业大学 | Freedom-degree-based six-freedom-degree motion simulator controlling method |
| CN111045438A (en) * | 2019-10-21 | 2020-04-21 | 武汉大学 | A shipborne self-stabilizing platform and its control system and method |
| CN111045438B (en) * | 2019-10-21 | 2023-09-08 | 贵州省水利水电勘测设计研究院 | A shipborne self-stabilizing platform and its control system and method |
| CN115026876A (en) * | 2022-07-07 | 2022-09-09 | 浙江大学 | Design method and control system of 6-DOF parallel platform controller based on Zynq and HLS |
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| CN100514229C (en) | 2009-07-15 |
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