一种新型电动复合力加载系统控制方法

张冬辉; 毕树生; 于靖军; 裴旭

一种新型电动复合力加载系统控制方法

北京航空航天大学机械工程及自动化学院机器人研究所,北京 100191

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出版历程
- 收稿日期: 2012-02-03
- 刊出日期: 2013-01-28

A control method of novel electrical composite force loading system

Robotics Institute,School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics,Beijing 100191,China

摘要

摘要: 在介绍三维复合力加载设备结构特点与工作原理的基础上,推导出复合力与单支链力之间的关系,建立了单支链电动缸力加载数学模型,通过仿真和实验研究了系统稳定性,分析发现小阻尼系数和力噪声是影响系统稳定与响应速度的主要因素,提出了一种改善系统稳定性和快速性的控制方法,并在实验中取得了良好效果,采用该控制方法,弯矩、轴向力复合加载频率可以达到10Hz.
- 复合力加载 /
- 并联机构 /
- 力控制 /
- 稳定性 /
- 快速性
Abstract: Based on an introduction to the structure and working principle of composite force loading system,the relation between composite force and branch chain forces was deduced,and a mathematical model of one branch chain force loading system was established to analyze its stability.The simulation and experiment lead to a conclusion that damp and noise of force are main factors which have a serious effect on the stability and response speed.A new control algorithm was proposed,and the experimental results show that the algorithm improves the performance of the system significantly.The frequency of combined moment and axial force loading can reach 10Hz by using this control method.
- composite force loading /
- parallel mechanisms /
- force control /
- stability /
- rapidity

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参考文献(16)

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