基于三状态控制的电液伺服加速度控制策略
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摘要
电液振动台是一种广泛用于模拟被试件实际所处力学环境的振动测试设备,加速度波形复现的精度直接决定测试结果,然而,摩擦、被试件柔性因素、参数不确定性、未建模特性等系统非线性因素,都会降低加速度波形复现精度。利用MATLAB与AMESim软件建立了电液振动台系统联合仿真模型,提出并设计了三状态控制器用以提高加速度波形复现精度,并对系统进行了仿真分析;最后,搭建了电液振动台试验台,对提出的控制器进行了实验验证。仿真与实验结果表明,三状态控制器有效提高了加速度波形复现精度。
As a vibration testing equipment,an electro-hydraulic shaking table is widely used to simulate the actual mechanical environment of specimens. The accuracy of acceleration waveform repetition directly determines test results. However,system nonlinear factors such as friction,flexible factor,parameter uncertainty and unmodeled characteristics can definitely decrease the repetition accuracy. Therefore,based on a co-simulation model established by the software MATLAB and AMESim,a three states controller is proposed to improve the replication accuracy. To validate the proposed controller,an electro-hydraulic shaking table is built and experiments are executed,and the experimental results demonstrate that the proposed algorithm exhibits a better performance.
As a vibration testing equipment,an electro-hydraulic shaking table is widely used to simulate the actual mechanical environment of specimens. The accuracy of acceleration waveform repetition directly determines test results. However,system nonlinear factors such as friction,flexible factor,parameter uncertainty and unmodeled characteristics can definitely decrease the repetition accuracy. Therefore,based on a co-simulation model established by the software MATLAB and AMESim,a three states controller is proposed to improve the replication accuracy. To validate the proposed controller,an electro-hydraulic shaking table is built and experiments are executed,and the experimental results demonstrate that the proposed algorithm exhibits a better performance.
引文
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[2]YAO J,DI D,JIANG G,et al.Acceleration Amplitudephase Regulation for Electro-hydraulic Servo Shaking Table Based on LMS Adaptive Filtering Algorithm[J].International Journal of Control,2012,85(10):1581-1592.
[3]JIANJUN Y,GUILIN J,DUOTAO D,et al.Acceleration Harmonic Identification for an Electro-hydraulic Servo Shaking Table Based on the Normalized Least-mean-square Adaptive Algorithm[J].Journal of Vibration and Control,2013,19(1):47-55.
[4]赵敏.冗余驱动电液振动台建模仿真与模态解耦控制策略研究[D].大连:大连海事大学,2016.ZHAO Min.Modeling Simulation and Modal Decoupling Control Strategy for Redundantly Actuated Electro-hydraulic Shaking Table[D].Dalian:Master's Degree Thesis of Dalian Maritime University,2016.
[5]沈刚,朱真才,李翔,等.三轴六自由度电液振动台解耦控制[J].振动与冲击,2015,34(19):1-7.SHEN Gang,ZHU Zhencai,LI Xiang,et al.Decoupling Control for a Triaxial 6-DOF Electro-hydraulic Shaking Table[J].Journal of Vibration and Shock,2015,34(19):1-7.
[6]魏巍,杨志东,韩俊伟.超冗余液压振动台的模态空间解耦控制[J].哈尔滨工业大学学报,2015,47(1):48-53.WEI Wei,YANG Zhidong,HAN Junwei.Modal Space Decoupling Control for a Hyper-redundant Hydraulic Shaking Table[J].Journal of Harbin Institute of Technology,2015,47(1):48-53.
[7]魏巍,杨志东,曲志勇,等.超冗余多轴液压振动台的内力耦合控制[J].吉林大学学报(工学版),2015,45(5):1461-1467.WEI Wei,YANG Zhidong,QU Zhiyong,et al.Internal Force Coupling Control for Hyper-redundant Multi-axis Hydraulic Shaking Table[J].Journal of Jilin University(Engineering and Technology Edition),2015,45(5):1461-1467.
[8]马立英,周鋐.位移控制电液伺服振动台加速度谱再现研究[J].仪器仪表学报,2013,34(4):889-894.MA Liying,ZHOU Hong.Study on Acceleration Spectrum Replication of Electro-hydraulic Servo Test Rig Based on Displacement Control[J].Chinese Journal of Scientific Instrument,2013,34(4):889-894.
[9]于浩洋,关广丰,于笑平,等.电液振动台加速度波形再现控制算法[J].黑龙江工程学院学报(自然科学版),2013,27(1):60-63.YU Haoyang,GUAN Guangfeng,YU Xiaoping,et al.On the Acceleration Waveform Replication Control Algorithm of Electro-hydraulic Shaking Table[J].Journal of Heilongjiang Institute of Technology(Natural Science Edition),2013,27(1):60-63.
[10]狄多涛.基于卡尔曼滤波的电液伺服振动台加速度谐波辨识研究[D].哈尔滨:哈尔滨工程大学,2013.DI Duotao.Identification of Acceleration Harmonic for an Electro-hydraulic Servo Shaking Table Based on Kalman Filter[D].Harbin:Harbin Engineering University,2013.