Journal of South China University of Technology (Natural Science Edition) ›› 2016, Vol. 44 ›› Issue (1): 93-99.doi: 10.3969/j.issn.1000-565X.2016.01.014

• Mechanical Engineering • Previous Articles     Next Articles

Internal Force-Coupling Dynamic Suppression Strategy for Redundantly-Actuated Hydraulic Shaking Table

GAO Chang-hong CONG Da-cheng YANG Zhi-dong QU Zhi-yong   

  1. School of Mechatronic Engineering,Harbin Institute of Technology,Harbin 150001,Heilongjiang,China
  • Received:2014-12-08 Revised:2015-04-05 Online:2016-01-25 Published:2015-12-09
  • Contact: 杨志东( 1980-) ，男，博士，讲师，主要从事并联冗余驱动机构分析设计与控制研究． E-mail:yangzhidong@hit. edu. cn
  • About author:高长虹( 1987-) ，男，博士生，主要从事并联冗余驱动系统的控制研究． E-mail: my. cool. cn@163. com
  • Supported by:
    Supported by the National Natural Science Foundation of China( 51205077， 51475116)

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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

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