A Disturbance Force Suppression Method for a Six Degrees of Freedom Electro-hydraulic Vibration Table

Abstract

The invention discloses a method for suppressing interference force of a six-degree-of-freedom electro-hydraulic vibrating table, which comprises the following steps: multiplying a six-degree-of-freedom acceleration reference signal to the left by a matrix J and using it as an input signal of a reference signal generator module; The output signal of the module r a ; will r a As the input signal of the integrator 1 module, the output signal r v ; will r v As the input signal of the integrator 2 module, the output signal r x ; Collect the displacement signal x, velocity signal v, acceleration signal a of the hydraulic cylinder piston rod of each valve-controlled cylinder mechanism and the pressure difference signal P between the two chambers of the hydraulic cylinder L ; put the signal r x 、r v 、r a ,x,v,a,p L As the input signal of the interference force suppression controller module, calculate the output signal u of the interference force suppression controller module; use the output signal u of the interference force suppression controller module as the driving signal of the six valve-controlled cylinder mechanisms, and input it to the six valves The cylinder control mechanism drives the movement of the six-degree-of-freedom electro-hydraulic vibration table. The invention obviously improves the control precision of the six-degree-of-freedom electro-hydraulic vibrating table.

Description

technical field [0001] The invention relates to a multi-degree-of-freedom electro-hydraulic vibration table, in particular to a method for suppressing interference force of a six-degree-of-freedom electro-hydraulic vibration table. Background technique [0002] The multi-degree-of-freedom electro-hydraulic vibration table is the key equipment for simulating the vibration environment of large-scale structures or equipment. By reproducing the acceleration signal measured in the environment, the anti-vibration performance of the structure or equipment in the vibration environment is assessed. It is widely used in aerospace, bridge construction, ships, etc. , vehicles and other fields. The control system is the core technology of the electro-hydraulic vibration table. [0003] The six-degree-of-freedom electro-hydraulic vibration table is driven by six sets of valve-controlled cylinder mechanisms, and has six degrees of freedom of movement in the lateral direction, heading, hea...

AI Technical Summary

Problems solved by technology

Affected by interference factors such as foundation elasticity and flexible connection, the control accuracy of the six-degree-of-freedom electro-hydraulic vibration table system is greatly reduced

Taking the movement of the electro-hydraulic vibration table along the heave degree of freedom as an example, the analysis shows that when the traditional control method is adopted, the time-domain peak error between the acceleration output signal of the heave degree of freedom and the acceleration reference signal is about 60%, which seriously affects the stability of the vibration table. System Control Accuracy

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