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| 电液驱动Stewart平台模型参数辨识方法 | |
| 引用本文： | 吴博,邵俊鹏,吴盛林,赵克定. 电液驱动Stewart平台模型参数辨识方法[J]. 机械工程学报, 2010, 46(3). DOI: 10.3901/JME.2010.03.029 |
| 作者姓名： | 吴博 邵俊鹏 吴盛林 赵克定 |
| 作者单位： | 1. 哈尔滨理工大学机械动力工程学院,哈尔滨,150080 2. 哈尔滨工业大学机电工程学院,哈尔滨,150001 |
| 基金项目： | 黑龙江省博士后、哈尔滨市科技创新人才研究专项资金(2009RFQXS227);;哈尔滨理工大学青年科学研究基金(2008XQJZ004)资助项目 |
| 摘 要： | 电液驱动Stewart平台是一个多输入多输出复杂并联机构,各通道间存在严重负载交联耦合。在确定平台各通道性能参数时,按照简单的阀控缸系统进行理论计算或系统辨识,结果和实际情况相差极大,这严重影响平台控制系统的设计和系统性能的提高。为了解决上述问题,设计一种基于Levenberg-Marquardt寻优算法的六维互不相关信号激励的Stewart平台闭环辨识算法,并应用于电液驱动Stewart平台试验样机。试验结果表明该辨识算法准确地辨识出平台通道性能参数,取得较满意的辨识结果。 |
| 关 键 词： | 闭环辨识算法 辨识模型 Stewart平台 电液伺服控制系统 |
Model Parameters Identification Method for Electro-hydraulic Driving Stewart Platform |
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| WU Bo,SHAO Junpeng,WU Shenglin,ZHAO Keding. Model Parameters Identification Method for Electro-hydraulic Driving Stewart Platform[J]. Chinese Journal of Mechanical Engineering, 2010, 46(3). DOI: 10.3901/JME.2010.03.029 | |
| Authors: | WU Bo SHAO Junpeng WU Shenglin ZHAO Keding |
| Affiliation: | 1.College of Mechanical and Power Engineering/a>;Harbin University of Science and Technology/a>;Harbin 150080/a>;2.School of Mechatronic Engineering/a>;Harbin Institute of Technology/a>;Harbin 150001 |
| Abstract: | Stewart platform driven by electro-hydraulic system is a multi-input and multi-output baroque parallel mechanism, in which serious load-coupling phenomenon occurs between channels. Generally performance parameters of each channel of platfrom are computed or identified according to the theory of servo-valve controlling cylinder system, the results obtained are different from practical operation conditions greatly, which affects the design and performance improvement of the platform control system severely. I... |
| Keywords: | Closed-loop identification algorithm Identification model Stewart platform Electro-hydraulic servo control system |
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