带连杆六自由度并联振动台控制方法

摘要

对于并联运动平台,将液压缸体固定,由轻量化连杆传递运动可降低液压缸运动的惯性力和铰接处摩擦力.以一种带连杆的六自由度并联振动台为研究对象,基于位置正解算法提出带连杆六自由度振动台位姿控制策略.对振动台进行了运动学分析,通过局部坐标变换推导出位置正解计算方法.利用SimMechanics建立了带连杆六自由度振动台的动力学模型.结合PI控制器、雅克比矩阵以及正解算法,应用MATLAB/Simulink搭建了完整的闭环控制模型.最后通过阶跃响应与正弦响应仿真验证控制策略的有效性.%The connecting rod between the hydraulic cylinder and the platform is favorable to reduce the cylinder inertia force and the hinge friction of the parallel platform.A position and attitude control strategy based on the forward kinematics algorithm for the parallel shaking table with connecting rod is proposed.The computing method of the forward kinematics is developed by the local coordinate transformation.SimMechanics is used to build the dynamic model of the shaking table.The whole model is built based on Matlab/Simulink and combined with PI controller,Jacobian matrix and forward kinematics algorithm.The step response test and the sine response test are used to verify the effectiveness of the control strategy.