摘要
液压并联机构运动耦合常常抑制其运动精度,针对液压并联平台的运动耦合现象,在液压并联平台运动学模型基础上,分析了多工况下液压并联平台的驱动特性,提出一种基于动态补偿算法的运动控制方法,对液压并联平台多工况驱动力矩进行控制目标优化,构建了以液压作动器为载体的液压并联平台运动控制试验环境,通过模拟多工况输入验证运动控制方法的可靠性,实验结果表明动态补偿算法能够满足运动目标的优化效果且快速提升液压并联平台的运动控制精度。
The motion coupling of hydraulic parallel mechanism often inhibits its motion accuracy.Aiming at the motion coupling phenomenon of hydraulic parallel platform,based on the kinematic model of hydraulic parallel platform,the dynamic characteristics of hydraulic parallel platform under multiple working conditions are analyzed,and a motion control method based on dynamic compensation algorithm is proposed to optimize the control objectives of driving torque of hydraulic parallel platform under multiple working conditions.The motion control test environment of the hydraulic parallel platform with the hydraulic actuator as the carrier is constructed.The reliability of the motion control method is verified by simulating the input of multiple working conditions.The experimental results show that the dynamic compensation algorithm can meet the optimization effect of the motion target and quickly improve the motion control accuracy of the hydraulic parallel platform.
作者
李信言
LI Xin-yan(Xi'an Aeronautical Polytechnic Institute,Office of Party and Government Affairs,Xi'an 710089,China)
出处
《液压气动与密封》
2022年第8期62-65,共4页
Hydraulics Pneumatics & Seals
基金
西安航空职业技术学院2020年度科研计划项目(20XHZK-02)。
关键词
液压并联机构
运动精度
耦合
动态补偿算法
液压作动器
hydraulic parallel mechanism
motion accuracy
coupling
dynamic compensation algorithm
hydraulic actuator
