基于动力补偿的液压并联运动平台控制策略.pdfVIP

2006 年 8 月 北 京 航 空航 天 大 学 学 报 August 2006 第32 卷 第8 期 JournaI of Beijing University of Aeronautics and Astronautics VoI. 32 No. 8 基于动力补偿的液压并联运动平台控制策略 袁立鹏 董彦良 赵克定 许宏光 （哈尔滨工业大学 机电工程学院，哈尔滨 15000 1 ） 摘 要：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. 关 键 词：运动平台；小波；神经网络；动力学 中图分类号：TP 212 . 12 文献标识码：A 文 章编 号：100 1-5965 （2006 ）08-094 1-05 Dynamic compensator control strategy of hydraulic parallel manipulator Yuan Lipeng Dong YanIiang Zhao Keding Xu Hongguang （SchooI of Mechatronic Engineering ，Harbin Institute of TechnoIogy ，Harbin 15000 1，China ） Abstract ：The prototype of a hydrauIic driven 6-DOF paraIIeI manipuIator used in fIy modeI simuIator was presented. Considering on the mathematicaI modeI of the system which has many uncertain effect factors such as disturbed force ，friction force and uncertain parameter ，the research on the cIosed Ioop dynamics modeI of the system was made. According to the dynamic compensation characteristics of the cIosed Ioop modeI of the system ，six-dimension dynamic compensator was adopted. A reaI time controI strategy which is composed by PD controIIer and waveIet neuraI network was put forward to make dynamic compensation. Experiment resuIt shows that this method has characteristics of weII tracing abiIity. And it can improve the response time ，move- ment accuracy and resistance to Ioad disturbance of the system. It aIso can overcome the effects which are pro- duced by the dynamic coupIi