CN1996177A - Road spectrum reproduction control method for six freedom-degree motion simulator - Google Patents
Road spectrum reproduction control method for six freedom-degree motion simulator Download PDFInfo
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- CN1996177A CN1996177A CN 200610151149 CN200610151149A CN1996177A CN 1996177 A CN1996177 A CN 1996177A CN 200610151149 CN200610151149 CN 200610151149 CN 200610151149 A CN200610151149 A CN 200610151149A CN 1996177 A CN1996177 A CN 1996177A
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Abstract
The invention relates to a path spectrum recurrence and system frequency expansion control method through effective compensation to the hex freedom movement simulator. It starts with setting parameter signal, movement reverse interpretation, drive location closed loop control, cinematic positive interpretation, and location control transmission function off line identification. It adds system identification and iteration control unit to the hex freedom movement simulator input end, realizing the goal. Within the working frequency scope, this method can achieve the similarity of the reference wave shape and response wave shape bigger than 95%.
Description
(1) technical field
The present invention relates to six freedom-degree motion simulator control field, be specifically related to a kind of control method of six freedom-degree motion simulator road spectrum reproduction.
(2) technical background
Six freedom-degree motion simulator is a kind of giant mechanical and electrical equipment that is used for the environmental test simulation, can realize the environmental simulation under the multiple conditions such as sea situation, road conditions and flight attitude.Six freedom-degree motion simulator comprises: hydraulic cylinder, and servo-valve, motion platform, upper and lower connection hinge and related fluid hydraulic pipe etc. can be finished corresponding motion under the driving of hydraulic energy system and control system and control action.But because the restriction of system's frequency range, six freedom-degree motion simulator can not accurately reappear the road spectrum or the waveform of expectation, the effect of influence test in its frequency range scope.Therefore, must adopt new control mode and controller to finish the high precision road spectrum reproduction, and also not have corresponding techniques can realize this purpose at present.
(3) summary of the invention
The object of the present invention is to provide a kind of can compensate effectively since the six freedom-degree motion simulator frequency characteristic to the influence of its motion reproducibility and can the extension system frequency range and the road spectrum reproduction control method of the simple possible of high precision road spectrum reproduction.
The object of the present invention is achieved like this: it comprises the step that following computing machine can be realized:
Set the reference signal step, import six freedom-degree motion simulator Pose Control reference signal, reference signal be multiply by the contrary G of Pose Control mode transfer function G (s)
-1(s) obtain drive signal, output drive signal is sent into the inverse kinematic step;
The inverse kinematic step with setting the drive signal that the reference signal step is sent here, calculates the position control signal of six motion simulator servo actuator assemblies and exports drive location closed-loop control step to through inverse kinematic;
Drive location closed-loop control step, the position control signal that the inverse kinematic step is sent here exports six freedom-degree motion simulator actuator assembly to and moves as the drive signal motion simulator;
The forward kinematics solution step, the position feed back signal that six motion simulator servo actuator assemblies are sent into carries out normal solution calculating, obtain attitude data, the off-line identification step of location control transmission function is given in the off-line identification that attitude data is used for location control transmission function;
The off-line identification step of location control transmission function, the attitude data of setting the drive signal of reference signal step output and forward kinematics solution step is sent into the System Discrimination iteration unit six freedom-degree motion simulator transport function is carried out iterative computation and correction, obtain revising the transport function G (s) of back Pose Control pattern and its contrary G
-1(s) export to six freedom-degree motion simulator.
The present invention also has some technical characterictics like this:
1, described System Discrimination iteration unit comprises identification unit and iteration unit, send into identification unit and iteration unit is calculated with the reference signal data of input with through the pose feedback data that real time kinematics normal solution module obtains, try to achieve the transport function G (s) of Pose Control pattern and its contrary G
-1(s);
2, the calculation procedure of described identification unit is, white noise or periodic signal are carried out based on H
1MIMO FRF estimate, if directly obtain transport function then output-transfer function and termination routine, if fruit not have then to carry out H again according to the reference signal data computation drive signal of importing
1MIMO FRF estimate, judge whether and need average, if fruit need then be considered the FRF mean value computation of correlativity, if do not need then directly export transport function;
3, the calculation procedure of described iteration unit is, after the program initialization according to the Pose Control reference signal data of six freedom-degree motion simulator of input, calculate the drive signal that can on six freedom-degree motion simulator, realize, and the attitude signal that the echo signal that six freedom-degree motion simulator is realized is promptly fed back gathered, making difference signal with given signal calculates, judge whether to continue iteration, iteration then produces new echo signal and repeats to do difference signal calculating if desired, otherwise stop iteration, EOP (end of program);
4, described white noise is for obtaining at random, and periodic signal obtains with the cycle swept-frequency signal.
5, the Pose Control reference signal data of described input six freedom-degree motion simulator comprise object time course data.
Design philosophy of the present invention is as follows: in conjunction with Fig. 2-3, Fig. 2 is the controlling models of traditional six freedom-degree motion simulator, and Fig. 3 is the six freedom-degree motion simulator controlling models behind adding System Discrimination and the iteration control unit.On its controlling models, can be clear that, if the transport function of the position control mode of six freedom-degree motion simulator is G (s), obvious transport function G (s) ≠ 1, therefore inevitably there are amplitude attenuation and phase lag when the exercise test platform adopts the Pose Control pattern, and are different with hysteresis the decay of the sinusoidal signal of different frequency.Transport function G (s) when adding behind System Discrimination and the iteration control unit by identification exercise test platform Pose Control multiply by reference signal the contrary G of Pose Control pattern biography letter then
-1(s), obtain new excitation signal energizes system, just can improve the reproducibility of system.
As seen the critical process at road spectrum reproduction is:
1, utilization Real Time Kinematic normal solution or sensor obtain the testing table attitude misalignment;
2, utilize identification technique to obtain the biography letter G (s) of Pose Control pattern and its contrary G
-1(s), revise given signal then, again excitation system.
Six freedom-degree motion simulator road spectrum reproduction result as shown in Figure 4 after adopting System Discrimination and iteration control unit.
The present invention adds System Discrimination and iteration control unit at the input end of six freedom-degree motion simulator, ssystem transfer function is carried out identification, realize the frequency range of the compensation control raising system that input signal carries out, thereby be implemented in the purpose of finishing the high precision road spectrum reproduction on the six freedom-degree motion simulator.Facts have proved that this method can make the similarity of reference waveform and response wave shape greater than 95% in operating frequency range.The present invention is simple and reliable, can compensate effectively because the six freedom-degree motion simulator frequency characteristic to the influence of its motion reproducibility and can realize the purpose of extension system frequency range and high precision road spectrum reproduction, has been expanded six freedom-degree motion simulator application and function simultaneously.
(4) description of drawings
Fig. 1 is the six freedom-degree motion simulator composition diagram;
Fig. 2 is traditional six freedom-degree motion simulator controlling models;
Fig. 3 adds six freedom-degree motion simulator controlling models behind System Discrimination and the iteration control unit;
Fig. 4-the 5th adopts road spectrum reproduction result behind System Discrimination and the iteration control unit;
Fig. 6 is a road spectrum simulation test vibration control schematic diagram;
Fig. 7 is the TWR process flow diagram;
Fig. 8 is a TWR System Discrimination block diagram;
Fig. 9 is LMS time domain waveform reproduction (TWR) process flow diagram;
Figure 10 is vibration drive signal iterative process figure;
Figure 11 is the inverse kinematic process flow diagram; Figure 12 is the forward kinematics solution process flow diagram.
(5) embodiment
The present invention is described in further detail below in conjunction with drawings and Examples:
In conjunction with Fig. 1, six freedom-degree motion simulator comprises hydraulic cylinder, servo-valve, motion platform, on connect hinge, connect hinge and related fluid hydraulic pipe down.
In conjunction with Fig. 3, present embodiment comprises the step that following computing machine can be realized:
Set the reference signal step, import six freedom-degree motion simulator Pose Control reference signal, reference signal be multiply by the contrary G of Pose Control mode transfer function G (s)
-1(s) obtain drive signal, output drive signal is sent into the inverse kinematic step;
The inverse kinematic step with setting the drive signal that the reference signal step is sent here, calculates the position control signal of six motion simulator servo actuator assemblies and exports drive location closed-loop control step to through inverse kinematic;
Drive location closed-loop control step, the position control signal that the inverse kinematic step is sent here exports six freedom-degree motion simulator actuator assembly to and moves as the drive signal motion simulator;
The forward kinematics solution step, the position feed back signal that six motion simulator servo actuator assemblies are sent into carries out normal solution calculating, obtain attitude data, the off-line identification step of location control transmission function is given in the off-line identification that attitude data is used for location control transmission function;
The off-line identification step of location control transmission function, the attitude data of setting the drive signal of reference signal step output and forward kinematics solution step is sent into the System Discrimination iteration unit six freedom-degree motion simulator transport function is carried out iterative computation and correction, obtain revising the transport function G (s) of back Pose Control pattern and its contrary G
-1(s) export to six freedom-degree motion simulator.
In conjunction with Fig. 6, wherein System Discrimination iteration unit comprises identification unit and iteration unit, send into identification unit and iteration unit is calculated with the reference signal data of input with through the pose feedback data that real time kinematics normal solution module obtains, try to achieve the transport function G (s) of Pose Control pattern and its contrary G
-1(s).
In conjunction with Fig. 9, the calculation procedure of described identification unit is that white noise or periodic signal are carried out based on H
1MIMO FRF estimate, if directly obtain transport function then output-transfer function and termination routine, if fruit not have then to carry out H again according to the reference signal data computation drive signal of importing
1MIMO FRF estimate, judge whether and need average, if fruit need then be considered the FRF mean value computation of correlativity, if do not need then directly export transport function; White noise is for obtaining at random, and periodic signal obtains with the cycle swept-frequency signal.
In conjunction with Figure 10, the calculation procedure of described iteration unit is, after the program initialization according to the Pose Control reference signal data of six freedom-degree motion simulator of input, calculate the drive signal that can on six freedom-degree motion simulator, realize, and the attitude signal that the echo signal that six freedom-degree motion simulator is realized is promptly fed back gathered, making difference signal with given signal calculates, judge whether to continue iteration, iteration then produces new echo signal and repeats to do difference signal calculating if desired, otherwise stop iteration, EOP (end of program); The Pose Control reference signal data of input six freedom-degree motion simulator comprise the object time course.
In conjunction with Figure 11, the inverse kinematic unit is meant that the cylinder that known six freedom-degree motion simulator attitude finds the solution six servo actuator assemblies is long.Comprise 3 parts such as Eulerian angle calculating, homogeneous coordinate transformation, spatial kinetics calculating.
In conjunction with Figure 12, the forward kinematics solution unit is under the situation of known six servo actuator assemblies, finds the solution the position and the attitude of six freedom-degree motion simulator.This module comprises: set up Nonlinear System of Equations, secondary Taylor expansion, iterative 3 parts by hinge spacing equation.
In conjunction with Fig. 7-8, the road spectrum simulation test has the test of standard road spectrum and strengthens two kinds of road spectrum tests, and its basic thought as shown in Figure 7.At first carry out the exciter test of shaking table with pink noise, record is at this moment by the response of test specimen, obtain the response spectra of corresponding six freedom-degree motion simulator by the data collection and analysis processing unit, be input spectrum according to response spectra with the given signal of reference afterwards, obtain the contrary G of its transport function G (s) and transport function
-1(s).And the correction drive signal, carry out the driving of six freedom-degree motion simulator with this drive signal, iterate till the error of response spectra and target spectrum meets the demands.Fig. 8 is the TWR flow process, and LMS time domain waveform reproduction (TWR) flow process as shown in Figure 9.
1) generation of road spectrum: adopt angle attitude spectral measurement system record test specimen in the time history of strengthening the road surface; To test specimen carry out filtering in the road spectrum that the test road surface obtains, processings of transfiniting, compression synthesize, and obtains effective road spectrum.
2) identification of vibration experiment: based on H
1The System Discrimination of the MIMO of method (Multiple Input Multiple Output multiple-input and multiple-output) FRF (Frequency Response Function Estimation of Frequency Response Function method) as shown in Figure 9.In conjunction with Fig. 7 white noise or periodic signal are carried out based on H
1MIMO FRF estimate that wherein white noise is for obtaining at random, if use the realization of periodic signal available period swept-frequency signal.If directly obtain transport function (FRF) then output-transfer function and termination routine, if fruit not have then to carry out H again according to the reference signal data computation drive signal of importing
1MIMO FRF estimate, judge whether and need average, if fruit need then be considered the FRF mean value computation of correlativity, if do not need then directly export FRF transport function.
3) the iteration correction of vibration drive signal: after the pilot system model is determined, form the drive signal of six freedom-degree motion simulator according to the object time course, produce motion, simultaneously its signal is gathered, and calculated difference signal, repeatedly the new vibration drive signal of iteration correction output is tested required precision up to reaching on statistical significance.And with last corrected signal as vibration drive signal, finishing iteration.The iteration correction flow process of vibration drive signal as shown in figure 10.
In conjunction with Fig. 4-5, Fig. 4 is random wave reproduction synoptic diagram, and Fig. 5 is the coherence function of input/output signal.The road spectrum reproduction result as can be seen after adopt System Discrimination and iteration control unit, the present invention can compensate effectively owing to the influence of six freedom-degree motion simulator frequency characteristic to its motion reproducibility, and can realize the purpose of extension system frequency range and high precision road spectrum reproduction.
Claims (6)
1, a kind of road spectrum reproduction control method for six freedom-degree motion simulator is characterized in that it comprises the step that following computing machine can be realized:
Set the reference signal step, import six freedom-degree motion simulator Pose Control reference signal, reference signal be multiply by the contrary G of Pose Control mode transfer function G (s)
-1(s) obtain drive signal, output drive signal is sent into the inverse kinematic step;
The inverse kinematic step with setting the drive signal that the reference signal step is sent here, calculates the position control signal of six motion simulator servo actuator assemblies and exports drive location closed-loop control step to through inverse kinematic;
Drive location closed-loop control step, the position control signal that the inverse kinematic step is sent here exports six freedom-degree motion simulator actuator assembly to and moves as the drive signal motion simulator;
The forward kinematics solution step, the position feed back signal that six motion simulator servo actuator assemblies are sent into carries out normal solution calculating, obtain attitude data, the off-line identification step of location control transmission function is given in the off-line identification that attitude data is used for location control transmission function;
The off-line identification step of location control transmission function, the attitude data of setting the drive signal of reference signal step output and forward kinematics solution step is sent into the System Discrimination iteration unit six freedom-degree motion simulator transport function is carried out iterative computation and correction, obtain revising the transport function G (s) of back Pose Control pattern and its contrary G
-1(s) export to six freedom-degree motion simulator.
2, road spectrum reproduction control method for six freedom-degree motion simulator according to claim 1, it is characterized in that described System Discrimination iteration unit comprises identification unit and iteration unit, send into identification unit and iteration unit is calculated with the reference signal data of input with through the pose feedback data that real time kinematics normal solution module obtains, try to achieve the transport function G (s) of Pose Control pattern and its contrary G
-1(s).
3, road spectrum reproduction control method for six freedom-degree motion simulator according to claim 2 is characterized in that the calculation procedure of described identification unit is, white noise or periodic signal are carried out based on H
1MIMO FRF estimate, if directly obtain transport function then output-transfer function and termination routine, if fruit not have then to carry out H again according to the reference signal data computation drive signal of importing
1MIMO FRF estimate, judge whether and need average, if fruit need then be considered the FRF mean value computation of correlativity, if do not need then directly export transport function.
4, road spectrum reproduction control method for six freedom-degree motion simulator according to claim 2, the calculation procedure that it is characterized in that described iteration unit is, after the program initialization according to the Pose Control reference signal data of six freedom-degree motion simulator of input, calculate the drive signal that can on six freedom-degree motion simulator, realize, and the attitude signal that the echo signal that six freedom-degree motion simulator is realized is promptly fed back gathered, making difference signal with given signal calculates, judge whether to continue iteration, iteration then produces new echo signal and repeats to do difference signal calculating if desired, otherwise stop iteration, EOP (end of program).
5, road spectrum reproduction control method for six freedom-degree motion simulator according to claim 3 is characterized in that described white noise for obtaining at random, and periodic signal obtains with the cycle swept-frequency signal.
6, road spectrum reproduction control method for six freedom-degree motion simulator according to claim 4 is characterized in that the Pose Control reference signal data of described input six freedom-degree motion simulator comprise object time course data.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105353789A (en) * | 2015-11-16 | 2016-02-24 | 中国工程物理研究院总体工程研究所 | Continuous vibration signal time history replication 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 |
| CN112214916A (en) * | 2020-10-09 | 2021-01-12 | 北京福田戴姆勒汽车有限公司 | Method and system for restoring physical test bench simulation process based on virtual model |
-
2006
- 2006-12-15 CN CNB2006101511495A patent/CN100504676C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105353789A (en) * | 2015-11-16 | 2016-02-24 | 中国工程物理研究院总体工程研究所 | Continuous vibration signal time history replication 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 |
| CN112214916A (en) * | 2020-10-09 | 2021-01-12 | 北京福田戴姆勒汽车有限公司 | Method and system for restoring physical test bench simulation process based on virtual model |
| CN112214916B (en) * | 2020-10-09 | 2023-07-18 | 北京福田戴姆勒汽车有限公司 | Method and system for restoring physical test bench simulation process based on virtual model |
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