基于动力补偿的液压并联运动平台控制策略

针对所研制的飞行模拟器用大负载液压六自由度并联运动平台,在对系统闭环动力学模型进行详细分析的基础上,依据系统数学模型存在外扰力、摩擦力及不确知参数等因素影响的控制特性,利用系统闭环动力学模型的动力补偿特性,采用六维动力补偿器,提出一种PD控制器加小波神经网络补偿器进行在线动力学补偿的实时控制策略,并通过实验验证了其控制的有效性.结果表明:该方法具有良好的跟踪特性,能够提高系统响应快速性、运动精度及抗负载扰动能力,很大程度上克服了系统的动力耦合及参数时变和未知力扰动带来的影响,为多自由度运动系统的高性能实时控制开辟了崭新途径.

Dynamic compensator control strategy of hydraulic parallel manipulator

The prototype of a hydraulic driven 6-DOF parallel manipulator used in fly model simulator was presented.Considering on the mathematical model of the system which has many uncertain effect factors such as disturbed force,friction force and uncertain parameter,the research on the closed loop dynamics model of the system was made.According to the dynamic compensation characteristics of the closed loop model of the system,six-dimension dynamic compensator was adopted.A real time control strategy which is composed by PD controller and wavelet neural network was put forward to make dynamic compensation.Experiment result shows that this method has characteristics of well tracing ability.And it can improve the response time,movement accuracy and resistance to load disturbance of the system.It also can overcome the effects which are produced by the dynamic coupling,real time varied parameters and unknown disturbance.This method presents a brand-new path for high performance of the parallel manipulator mechanism.