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Control method for three-axis six-freedom hydraulic vibration table based on kinematics

A technology of hydraulic vibration and control methods, which is applied in vibration testing, testing of machine/structural components, measuring devices, etc., and can solve problems such as reducing the servo control accuracy of the vibration table system

Inactive Publication Date: 2008-05-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Moreover, the greater the range of platform motion, the greater the coupling between degrees of freedom, which reduces the servo control accuracy of the shaking table system
Therefore, a new method is needed to complete the high-precision servo control of the six-degree-of-freedom vibration table, but there is no corresponding technology to achieve this purpose

Method used

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  • Control method for three-axis six-freedom hydraulic vibration table based on kinematics
  • Control method for three-axis six-freedom hydraulic vibration table based on kinematics
  • Control method for three-axis six-freedom hydraulic vibration table based on kinematics

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Embodiment Construction

[0032] Below in conjunction with specific embodiment, the present invention is described in further detail:

[0033] 1-2, the three-axis six-degree-of-freedom vibrating table includes: hydraulic cylinder, servo valve, motion platform, upper and lower connecting hinges, etc. This embodiment includes the steps that can be realized by the following computer program:

[0034] By setting the reference signal steps, the three-axis six-degree-of-freedom shaking table can realize the functions of six-degree-of-freedom random, six-degree-of-freedom sine frequency sweep, six-degree-of-freedom shock waveform and six-degree-of-freedom random waveform reproduction. Therefore, the set reference signal is the random spectrum, sine frequency sweep, shock wave or random wave with six degrees of freedom or less degrees of freedom that the user needs to reproduce;

[0035] The three-state input filter step, according to Fig. 5, converts the set acceleration reference signal into a position given...

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Abstract

The invention provides a controlling method for three-axle six-freedom hydraulic vibration table based on kinematics, which comprises the following steps: setting reference signal for the freedoms; three-state input filter; forward kinematics; speed and acceleration synthesis; three-state feedback; inverse kinematics solution; and output, wherein, all the steps can be realized with computer program. By adopting position solution method based on forward and inverse kinematics solution, the invention enables position control and decoupling control of the three-axle six-freedom hydraulic vibration table, and improves uniformity, transverse component and other indexes effectively; thereby, the invention has the advantages of enabling high-precision motion control of the three-axle six-freedom hydraulic vibration table, and improving uniformity, transverse component and other indexes effectively.

Description

(1) Technical field [0001] The invention relates to a motion control method for a vibrating table, in particular to a motion control method for a three-axis six-degree-of-freedom vibrating table based on kinematics calculation. (2) Background technology [0002] The three-axis six-degree-of-freedom shaking table is a kind of vibration environment simulation test equipment, which can realize the functions of six-degree-of-freedom sinusoidal frequency sweep, six-degree-of-freedom random, six-degree-of-freedom shock waveform and six-degree-of-freedom random waveform reproduction, as an important test. It provides a vibration test environment for the development of large equipment and instruments. [0003] In the multi-axis hydraulic vibration table servo control system currently used at home and abroad, the degree of freedom control adopts the traditional matrix control method. There is a certain coupling in the movement process. Moreover, the greater the amplitude of the pla...

Claims

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Application Information

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IPC IPC(8): G01M7/06
Inventor 韩俊伟姜洪洲何景峰张辉
Owner HARBIN INST OF TECH
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