• CN:11-2187/TH
  • ISSN:0577-6686

›› 2004, Vol. 40 ›› Issue (4): 160-163.

• 论文 • 上一篇    下一篇

车辆运动模拟6自由度平台的协同控制研究

王宣银;刘荣;贾光政;程佳   

  1. 浙江大学流体传动及控制国家重点实验室
  • 发布日期:2004-04-15

RESEARCH ON COORDINATED CONTROL OF THE SIX DEGREES OF FREEDOM VEHICLE MOTION SIMULATOR

Wang Xuanyin;Liu Rong;Jia Guangzheng;Cheng Jia   

  1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University
  • Published:2004-04-15

摘要: 对车辆运动模拟6自由度平台进行研究。对四通阀控制液压缸伺服系统进行了理论分析和试验研究,讨论了有负载时,液压缸正反向运动速度一致和换向瞬间不产生压力跃变这两种情况下,非对称伺服阀各阀口面积梯度的关系。推导出空载时,使阀控非对称缸系统正反向运动速度一致且换向瞬间不产生压力跃变的非对称伺服阀各阀口的面积梯度的关系式。在此基础上,研究6个液压缸伺服系统协同控制,实现了车辆的运动模拟。实际运行结果表明:该平台运动平稳,各自由度协同控制性能良好,完全满足了车辆各种运动模拟要求。

关键词: 6自由度平台, 车辆运动模拟, 非对称伺服阀, 协同控制

Abstract: A six degrees of freedom (6-DOF) vehicle motion simulator has been researched. The theoretic and experimental study of the servo system is done, which uses the four-way valve to control the asymmetric hydraulic cylinder. The relation among area grades of valve hatch is discussed, when the speed difference between forward and reverse motion and the pressure jump are dispelled taking into account the load. The expressions calculating area grade of asymmetric servo valve is derived. Based on above, the coordinated control to six hydraulic servo systems is researched. The result shows that the platform can smoothly move, the synergetic ability of each DOF is good and its performance meets the requirement of the vehicle motion simulation.

Key words: 6-DOF Stewart platform, Asymmetric servo valve, Coordinated control, Vehicle motion simulation

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