关键词: 液压振动台, 冗余驱动, 零位线性化, 内力耦合, 运动控制

Abstract: When the motion range of redundant shaking table is large,adopting the linearization near the zero position to control the degrees of freedom ( DOF) and suppress internal force coupling can result in large motion errors and poor internal force suppressing performance.In order to solve this problem,a kinematics model and a kinetic model are constructed for a redundantly-actuated hydraulic shaking table of two redundant DOFs and large motion range,and the internal force space structure of the shaking table is analyzed.Then,an internal force-coupling dynamic suppression strategy is proposed on the basis of the real-time solution of internal force space basis.In this strategy,the internal force of the shaking table is reduced by real-time acquiring and dynamically suppressing the force of redundant DOF space.Simulation results show that the proposed strategy can reduce the internal force of redundant shaking table effectively.

Key words: hydraulic shaking table, redundant actuation, linearization near the zero position, internal force coupling, motion control