对传统矩阵控制策略研究发现大位姿条件下控制精度不足,为提高二自由度冗余振动台在大位姿条件下的控制精度,提出基于运动学分析构建振动台位姿控制系统,利用运动学正解及雅各比矩阵进行液压缸信号与自由度信号间的变换。基于ADAMS平台建立冗余振动台模型,分析在大角度运动时,位姿控制方法与传统矩阵控制方法的偏差。实验研究证明,基于运动学分析的控制策略可以提高大位姿情况下振动台的控制精度。
Abstract
In the traditional matrix control strategy, the control precision is insufficient under the large pose condition. The pose control is presented based on the kinematics analysis to improve the control precision of the redundantly actuated shaking table. The forward kinematics and Jacobian matrix are used to transform the signals between the actuators and the platform. The shaking table model is built based on the ADAMS platform. The output of the platform is simulated separately by the conventional matrix control method and the kinematic analysis. The experimental results show that the control precision of vibration table can be improved based on the kinematics analysis under large displacement.
关键词
电液振动台 ;
冗余驱动 ;
运动学分析 ;
ADAMS仿真
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Key words
electro-hydraulic shaking table ;
redundancy drive ;
kinematics analysis ;
ADAMS simulation
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基金
国家自然科学基金(51105047); 中央高校基本科研业务费专项基金(3132016070)
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脚注
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