三轴六自由度电液振动台解耦控制
|
摘要
为了解决三轴六自由度电液振动台自由度之间耦合问题,提出一种基于逆模型的前馈补偿器解耦策略。对多轴电液振动台的系统传递函数转化为矩阵型式并进行分析,推导出基于系统逆模型解耦控制方案,利用递推增广最小二乘法(Recursive Extended Least Square,RELS)及零相差跟踪技术(Zero Phase Error Tracking,ZPET)设计出系统逆模型并得到相应的解耦控制器。最后,利用六自由度电液振动台对提出的算法进行实验验证。实验结果表明,解耦后的系统性能得到较大改善,一定程度上降低了耦合信号。
To solve the coupling problem among DOFs of a Triaxial 6-DOF electro-hydraulic shaking table( EHST),a feedforward compensation decoupling strategy was proposed based on an inverse model. Firstly,for the multiaxis electro-hydraulic shaking table,its system transfer function was taken as a form of matrix and analyzed to deduce the decoupling control scheme based on the system inverse model. Then,the system inverse model and corresponding decoupling controller were obtained by employing the recursive extended least square algorithm( RELS) and the zero phase error tracking technology( ZPET). Finaly,tests were conducted on a 6-DOF electro-hydraulic shaking table to verify the validity of the proposed algorithm. The results demonstrated that the proposed decoupling control strategy can greatly improve the system performance.
To solve the coupling problem among DOFs of a Triaxial 6-DOF electro-hydraulic shaking table( EHST),a feedforward compensation decoupling strategy was proposed based on an inverse model. Firstly,for the multiaxis electro-hydraulic shaking table,its system transfer function was taken as a form of matrix and analyzed to deduce the decoupling control scheme based on the system inverse model. Then,the system inverse model and corresponding decoupling controller were obtained by employing the recursive extended least square algorithm( RELS) and the zero phase error tracking technology( ZPET). Finaly,tests were conducted on a 6-DOF electro-hydraulic shaking table to verify the validity of the proposed algorithm. The results demonstrated that the proposed decoupling control strategy can greatly improve the system performance.
引文
[1]沈刚.三自由度电液振动台时域波形复现控制策略研究[D].哈尔滨:哈尔滨工业大学,2011.
[2]于慧君.电液振动试验系统长时间历程复现控制技术研究[D].杭州:浙江大学,2009.
[3]杨志东.液压振动台振动环境模拟的控制技术研究[D].哈尔滨:哈尔滨工业大学,2009.
[4]Severn R T.The development of shaking tables-a historical note[J].Earthquake Engineering&Structural Dynamics,2011,41(2):195-213.
[5]Tagawa Y,Kajiwara K.Controller development for the EDefense shaking table[J].Proc.IMech E Part I:J.Systems and Control Engineering,2007,221(2):171-181.
[6]韩俊伟.大型地震模拟振动台的研制[D].哈尔滨:哈尔滨工业大学,1996.
[7]杨勇.多自由度液压伺服系统的控制策略研究[D].长沙:中南大学,2008.
[8]王庆丰,路甬祥.电液多变量位置系统的解耦控制[J].中国机械工程,1998,11(7):729-732.WANG Qing-feng,LU Yong-xiang.Decoupling control of electro-hydraulic multivariable position control system[J].China Mechanical Engineering,1998,11(7):729-732.
[9]张永杲,张志洪,熊宇飞.非线性多变量电液伺服系统解耦自适应控制[J].上海交通大学学报,1994,28(2):23-30.ZHANG Yong-gao,ZHANG Zhi-hong,XIONG Yu-fei.Adaptive decoupling control of nonlinear multivariable electrohydraulic servo system[J].Journal of Shanghai Jiaotong University,1994,28(2):23-30.
[10]王洪瑞,方一鸣,焦晓红.状态反馈鲁棒解耦控制器的设计[J].控制与决策,1994,9(4):306-310.WANG Hong-rui,FANG Yi-ming,JIAO Xiao-hong.The design for decoupling robust controller with the state feedback[J].Control and Decision,1994,9(4):306-310.
[11]Cowan C F N,Grant P M.Adaptive filters[M].PrenticeHall,Inc.,Englewood Cliffs,New Jersey.1985.
[12]Shen Gang,Zhu Zhen-cai,Han Jun-wei.Adaptive feedforward compensation for hybrid control with acceleration time waveform replication on electro-hydraulic shaking table[J].Control Engineering Practice,2013,21(8):1128-1142.
[2]于慧君.电液振动试验系统长时间历程复现控制技术研究[D].杭州:浙江大学,2009.
[3]杨志东.液压振动台振动环境模拟的控制技术研究[D].哈尔滨:哈尔滨工业大学,2009.
[4]Severn R T.The development of shaking tables-a historical note[J].Earthquake Engineering&Structural Dynamics,2011,41(2):195-213.
[5]Tagawa Y,Kajiwara K.Controller development for the EDefense shaking table[J].Proc.IMech E Part I:J.Systems and Control Engineering,2007,221(2):171-181.
[6]韩俊伟.大型地震模拟振动台的研制[D].哈尔滨:哈尔滨工业大学,1996.
[7]杨勇.多自由度液压伺服系统的控制策略研究[D].长沙:中南大学,2008.
[8]王庆丰,路甬祥.电液多变量位置系统的解耦控制[J].中国机械工程,1998,11(7):729-732.WANG Qing-feng,LU Yong-xiang.Decoupling control of electro-hydraulic multivariable position control system[J].China Mechanical Engineering,1998,11(7):729-732.
[9]张永杲,张志洪,熊宇飞.非线性多变量电液伺服系统解耦自适应控制[J].上海交通大学学报,1994,28(2):23-30.ZHANG Yong-gao,ZHANG Zhi-hong,XIONG Yu-fei.Adaptive decoupling control of nonlinear multivariable electrohydraulic servo system[J].Journal of Shanghai Jiaotong University,1994,28(2):23-30.
[10]王洪瑞,方一鸣,焦晓红.状态反馈鲁棒解耦控制器的设计[J].控制与决策,1994,9(4):306-310.WANG Hong-rui,FANG Yi-ming,JIAO Xiao-hong.The design for decoupling robust controller with the state feedback[J].Control and Decision,1994,9(4):306-310.
[11]Cowan C F N,Grant P M.Adaptive filters[M].PrenticeHall,Inc.,Englewood Cliffs,New Jersey.1985.
[12]Shen Gang,Zhu Zhen-cai,Han Jun-wei.Adaptive feedforward compensation for hybrid control with acceleration time waveform replication on electro-hydraulic shaking table[J].Control Engineering Practice,2013,21(8):1128-1142.