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Control Strategy of Hydraulically Driven 6-DOF Vibration Test System

Author: GuanGuangFeng
Tutor: LiHongRen
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: Shaking table Kinematic analysis Waveform reproduction Random vibration power spectrum reproduction
CLC: TP273
Type: PhD thesis
Year: 2007
Downloads: 923
Quote: 32
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Abstract


Electro-hydraulic Servo Simulation and Test System of Harbin Institute of Technology Research Institute to undertake the defense 863 project \Six degrees of freedom shaking table control system consists of two parts of the servo control system and vibration control system. The main role of the servo control system is the degree of freedom of the drive signal into a single system drive signal to drive the platform motion, control the degree of freedom of the shaking table. The servo control method using only can control the platform motion, but the response of the system compared to a desired signal of the input signal and there is a large deviation. Therefore, vibration control system, the servo control system of the outer ring joined iteration compensation of the drive signal, so that the response signal of the system to the desired signal can be accurately reproduced. Shaking table servo control system mainly by the degree of freedom of the synthesis and decomposition of the controller, three-state controller and pressure stabilization controller consists of three parts. This article first briefly the traditional six degree of freedom control strategy, and then propose additional two degrees of freedom of the control loop distorted the original six degrees of freedom in the control loop, using the so-called \With six degrees of freedom control strategy, drive the amount of solution is not unique, and each exciter internal force is influenced by factors such as load and oil temperature changes. Eight degrees of freedom control, drive the amount of solution only, the internal forces between the exciter transform small, help to improve the accuracy of the system's control. Then the traditional pressure stabilization controller improvements, will be reduced to two adjustable parameters of the controller, and the parameters are independent of each other, to simplify the adjustment process. Finally, the effectiveness of the eight degrees of freedom control strategies and improved pressure stabilization controller is verified by experiments. In shaking table the traditional servo control system, the degree of freedom of the synthesis and decomposition of the matrix are based on assumptions zero linearization matrix element value is always the same, and in the process of platform motion control algorithm imperfect. The kinematic analysis of the six degrees of freedom shaking table, given the positive solution algorithm and Jacobian array, respectively, instead of the synthesis and decomposition of the matrix of the degrees of freedom in the the traditional servo control system based on the kinematic analysis of the position and orientation of the shaking table system control structure. The simulation analysis and experimental studies have shown that, compared with the traditional matrix control method based the kinematic analysis Pose control strategy can effectively improve the low frequencies, the acceleration of the shaking table system uniformity, reduce acceleration transverse component. Multi-degree-of-freedom waveform reproduction traditional vibration control algorithm method they use H1 frequency response function estimates, while there is no noise the H1 method assumes that the system input of its estimated value of the real system frequency response function under-estimated. In this paper, the frequency response function estimates based on the EV model. Under the premise of the input and output of the presence of noise, the estimation method based on the the EV model the system frequency response function. And reproducible test system based on multi-degree-of-freedom waveform characteristics of the frequency response function estimates simplified. Simulation analysis and experimental studies have shown that, in the the waveform reproducibility control system applications based on the frequency response function of the EV model estimation method can significantly improve the control accuracy of the test. To further enhance the reproducible accuracy of the power spectrum (PSD, power spectral density) of the random vibration in the the drive spectrum iteration and the drive signal generating two aspects to the traditional power spectrum iterative algorithm improved. First, a correction factor of the the driven spectrum iteration formula becomes real vector by a real number, different correction coefficients in different frequency bands, namely sub-band variable step size method driven spectral correction to improve the convergence rate of the iterative algorithm. Secondly, the use the drive spectrum of the information using the Parks-McClellan method FIR filter design, the white noise signal is filtered using a filter to generate a time domain drive signal due to avoiding the random process in the time domain in the conventional control algorithm, shortening the algorithm execution time. Simulation analysis and experimental studies have shown that improved the power spectrum of the complex now control algorithm can significantly improve the accuracy of the power spectrum reproduced.

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