基于直驱并联机构的六自由度振动校准系统研究
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国家自然科学基金项目(52075512)、中央高校基本科研业务费专项资金项目(2022YJSJD25)、中国华能集团总部科技项目(HNKJ22-HF131)和中国计量科学研究院基本科研业务费重点领域项目(AKYZD2302)


Development of 6-DOF Vibration Calibration System Based on Direct Drive Parallel Manipulator
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    摘要:

    直驱并联机构六自由度振动校准系统可以实现高精度和多自由度的运动模拟和校准,具有良好的应用前景。为了解决平台驱动关节滑块位置跟踪精度低的问题,对该机构进行动力学力矩前馈补偿分析。利用虚功原理建立该机构动力学模型,提出一种基本伺服算法与动力学前馈补偿相结合的控制策略。在实验样机上进行力矩前馈补偿,实验结果表明,在开放伺服程序增加力矩前馈补偿后,可以降低该机构在运动时的跟随误差,进行不同幅值单自由度正弦运动时,跟随误差分别下降40.32%、39.04%、43.24%、48.19%。并对振动台进行了性能检测,在平台基础上,搭建激光测量系统和数据采集模块,进行传感器校准和性能分析,平台横向振动比较小,谐波失真度均小于2%,平台具有较好的稳定性和性能。

    Abstract:

    The 6-DOF vibration calibration system based on direct drive parallel mechanisms can achieve high precision and multi-degree-of-freedom motion simulation and calibration, showing promising application prospects. To address the issue of low tracking accuracy of slider positions in the driven joint of the platform, a dynamic torque feedforward compensation analysis was conducted on this mechanism. Firstly, the dynamic model of the mechanism was established by using the principle of virtual work. Then, traditional servo control was done based on motion controller. A control strategy was proposed that combined a fundamental servo algorithm with dynamic feedforward compensation. Experimental torque compensation was conducted on the prototype, verifying the effectiveness of dynamic torque feedforward compensation in enhancing the position tracking accuracy of each driven joint slider and accelerating the response speed of the driven joint sliders. Experimental results demonstrated that by incorporating torque feedforward compensation into the open-loop servo program, the tracking errors of the mechanism during motion can be reduced. Specifically, during single-degree-of-freedom sinusoidal motions with different amplitudes, the tracking errors were decreased by 40.32%, 39.04%, 43.24%, and 48.19%, respectively. Furthermore, performance testing experiments were carried out on the vibration platform. A laser measurement system and data acquisition module were set up on the platform to perform sensor calibration and performance analysis.

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翟国栋,常浩,刘志华,蔡晨光,王耀辉,王利民,孙瑞峰.基于直驱并联机构的六自由度振动校准系统研究[J].农业机械学报,2024,55(6):414-423,433. ZHAI Guodong, CHANG Hao, LIU Zhihua, CAI Chenguang, WANG Yaohui, WANG Limin, SUN Ruifeng. Development of 6-DOF Vibration Calibration System Based on Direct Drive Parallel Manipulator[J]. Transactions of the Chinese Society for Agricultural Machinery,2024,55(6):414-423,433.

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  • 收稿日期:2023-10-27
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  • 在线发布日期: 2024-06-10
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