基于动力学模型前馈的液压振动台控制

由于液压振动台通常存在较严重的非线性和外界干扰,传统三状态控制器设计需在跟踪精度和稳定性之间做出权衡,系统难以获得良好的控制性能。以8条液压缸驱动的冗余振动台为研究对象,建立系统运动学和动力学数学模型。利用动力学逆模型预测各伺服阀阀口开度并加以前馈,以补偿非线性因素影响,结合三状态反馈控制,实现对加速度信号跟踪。采用MATLAB/Simulink和ADAMS软件搭建控制系统模型,仿真表明,该方法可有效提高加速度波形复现精度,具有良好的控制性能。

Feed-forward Control Based on Dynamic Model Inversion for Hydraulic Shaking Table

For the hydraulic shaking table in presence of highly non-linear dynamics and external load disturbance, there is a trade-off between control precision and stability for the design of traditional three-variable controller, which results in poor control performance. A 6-DOF redundant shaking table actuated by eight hydraulic actuators is taken as the object of study and its kinematics and kinetic models are built firstly. With three-variable feedback controller, the feed-forward path using dynamic model inversion determines the required opening quantity of each servo valve and enables acceleration tracking control, which compensates for the effect caused by non-linear factors. The control system model is built using MATLAB/Simulink and ADAMS. Simulation results show that the control method can improve the accuracy of acceleration waveform reproduction effectively and has good control performance.