电液振动平台易于实现低频大位移、大推力的振动激励，对于大型结构或试件的振动模拟试验具有重要价值。在工作环境中，常规的三状态控制器无法补偿由柔性基础及干扰力引起的扰动，其控制精度受到限制。为提升系统的跟踪精度，采用自抗扰控制器控制六自由度电液振动平台。对单个阀控缸机构设计自抗扰控制器后，结合三状态顺馈、位姿正解与雅可比矩阵完成对平台的加速度控制。通过位姿阶跃响应,加速度正弦运动及频率特性仿真，证明自抗扰控制方法对六自由度电液振动台具有更好的控制效果。
Abstract
The electro-hydraulic shaking table is of great value for the vibration simulation experiment of large structures or test specimen, because the vibration excitation with low frequency, large displacement and large thrust is easy to be realized. The generalized disturbance caused by the flexible foundation and the disturbance force cannot be compensated by the conventional three-variable controller in practice, thus limiting the tracking accuracy of the shaking table. To improve the tracking accuracy of the shaking table, a 6-DOF electro-hydraulic shaking table control strategy is proposed based on active disturbances rejection controller. After the single valve-controlled cylinder is added to the anti-interference controller, the acceleration of electro-hydraulic shaking table is controlled by active disturbances rejection controller under combining the Jacobian matrix, three-state feedforward and forward solution. Simulation results on the attitude step response, acceleration sinusoidal motion and frequency characteristic show that active disturbances rejection controller for the 6-DOF electro-hydraulic shaking table has better control effect.
关键词
六自由度电液振动台；自抗扰控制；广义干扰观测；位姿正解；三状态控制器
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Key words
6-DOF electro-hydraulic shaking table, active disturbances rejection controller, extended state observer, forward solution, three-variable controller
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基金
国家自然科学基金（51675073)；中央高校基本科研业务费专项资金（3132019352)
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