Disturbance force compensation method for six-degree-of-freedom electro-hydraulic motion platform

Abstract

The invention discloses a disturbance force compensation method for a six-degree-of-freedom electro-hydraulic motion platform. The disturbance force compensation method comprises the following steps: defining a six-degree-of-freedom displacement reference signal of the electro-hydraulic motion platform as Q0; the signal Q0 is left multiplied by the matrix J, and an output signal is recorded as rd; taking rd as an input signal of a reference signal generator module, and recording an output signal as ra; ra is used as an input signal of a first integrator module, and an output signal is recorded as rv; taking rv as an input signal of a second integrator module, and recording an output signal as rx; calculating an output signal u of the compensation controller module; and an output signal u of the compensation controller module serves as a driving signal of the six valve-controlled cylinder mechanisms and is input into the six valve-controlled cylinder mechanisms to drive the six-degree-of-freedom electro-hydraulic motion platform to move. According to the method, the time domain peak error of the displacement output signal and the displacement reference signal of the Z-direction freedom degree of the six-freedom-degree electro-hydraulic motion platform can be reduced to be within 3% from 10% of a traditional method, and the control precision of the six-freedom-degree electro-hydraulic motion platform system is obviously improved.

Description

technical field [0001] The invention relates to the control technology of a six-degree-of-freedom electro-hydraulic motion platform, in particular to a method for compensating disturbance force of a six-degree-of-freedom electro-hydraulic motion platform. Background technique [0002] The multi-degree-of-freedom electro-hydraulic motion platform is widely used in motion simulation, parallel machine tools and other fields by simulating the motion of multiple degrees of freedom. The multi-degree-of-freedom electro-hydraulic motion platform can simulate the real motion environment, and is not limited by the site and weather conditions, which saves costs while ensuring the safety of users. With the advancement of science and technology, the application scenarios of multi-degree-of-freedom motion platforms continue to expand and deepen, and the requirements for the control accuracy of motion platforms in various fields are getting higher and higher. [0003] The six-degree-of-fr...

AI Technical Summary

Problems solved by technology

The control accuracy of the six-degree-of-freedom electro-hydraulic motion platform system is greatly reduced due to interference factors such as basic elasticity and flexible connection, as well as the zero deviation of the servo valve.

Taking the movement of the electro-hydraulic motion platform along the Z-direction degree of freedom as an example, the analysis shows that when the traditional control method is adopted, the time-domain peak error between the displacement output signal of the Z-direction degree of freedom and the displacement reference signal is about 10%, which seriously affects the electro-hydraulic motion platform. Control accuracy of motion platform system

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