超冗余长行程并联驱动地震模拟台模态建模及压力镇定控制机理研究

项目名称： 超冗余长行程并联驱动地震模拟台模态建模及压力镇定控制机理研究

项目编号： No.51475116

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 曲智勇

作者单位： 哈尔滨工业大学

项目金额： 83万元

中文摘要： 以满足大型重载全尺寸结构地震模拟实验要求为背景，以超冗余长行程并联驱 动地震模拟台为研究对象，以建立系统动力学模型、减少激振器间内力纷争以及提高控制精 度为目标，建立了超冗余长行程并联驱动地震模拟台的刚柔耦合模态动力学模型，推导出了 系统内力纷争的特性表征，并提出了基于雅可比矩阵的压力镇定控制方法。模态建模解决了 传统刚体建模方法在大尺寸台体中，台体模态无法忽略情况下的适应性问题，为分析系统动 态性能和研究控制算法提供了模型平台；同时，在内力纷争新的特性表征方式下，基于雅可 比矩阵的压力镇定控制方法运用实时高效的运动学正反解、内力矩阵克服了传统方法在超冗 余驱动长行程情况下，控制精度低、内力纷争严重的缺点。该项目研究成果不仅可以应用于 此类大型地震模拟台的分析与控制，而且也可以应用到其他冗余并联机构的控制，具有较高 的工程应用价值和理论研究价值。

中文关键词： 地震模拟台；模态建模；冗余驱动；压力镇定；并联机构

英文摘要： In order to meet the earthquake heavy-duty full size experiment requirements as the background, the redundant long stroke parallel driving seismic simulator as the research object, to establish a system dynamics model, to reduce the force dispute between actuators and improve control accuracy as the goal, the rigid-flexible coupling dynamic model of parallel driving mode seismic simulator of redundant long stroke is established, the characterization expression of force disputes is deduced and the control method based on the Jacobin matrix of pressure is put forward. Modal modeling solves the adaptability problem that table mode cannot be ignored in the traditional rigid body modeling method for large size table, and provides a model for dynamic performance analysis and research of control algorithm; at the same time, based on the new characterization of force dispute and the Jacobin matrix, force balance is put forward by using kinematics and inverse real-time efficient solution, force matrix. It overcomes the problem in the traditional method that in super long stroke based on redundant actuation case, low accuracy and force dispute serious control. The research results of this project not only can be applied to such a large seismic simulator, but also can be used to control other redundant parallel mechanism, and has the better value in engineering application and theoretical research.

英文关键词： Seismic Simulator;mode modeling;Hyper-Redundant Actuation;force balance;Parallel mechanism