• CN:11-2187/TH
  • ISSN:0577-6686

›› 2011, Vol. 47 ›› Issue (3): 159-165.

• 论文 • 上一篇    下一篇


彭利坤;肖志权;邢继峰; 曾晓华;徐鑫   

  1. 海军工程大学船舶与动力学院;武汉纺织大学机电工程学院
  • 发布日期:2011-02-05

Modeling and Experiment Study of a Novel Digital Hydraulic 2-DOF Motion Platform

PENG Likun;XIAO Zhiquan;XING Jifeng;ZENG Xiaohua;XU Xin   

  1. School of Naval Architecture and Marine Power, Naval University of Engineering School of Mechanical and Electric Engineering, Wuhan Textile University
  • Published:2011-02-05

摘要: 摇摆台广泛用于模拟舰船、车辆的运动姿态,在车船设备测试、驾驶模拟器等国防与民用领域都有重要的应用价值。基于此,针对自行研制的模拟海洋环境的2自由度液压运动平台,介绍增量式步进电动机、四边滑阀、非对称液压缸、摇摆台架、同步反馈机构等构成的近似开环控制的系统结构和工作原理,建立其运动学和动力学方程,并通过状态方程描述阀控非对称液压缸换向时的跳变特性。在Matlab/Simulink中构建系统的非线性控制模型框图,将仿真与试验结果进行对比分析,表明了该数字液压摇摆台的可行性。

关键词: 2自由度摇摆台, 步进电动机, 非对称液压缸, 非线性控制模型, 数字液压阀

Abstract: The motion platform is widely used to simulate the movement of ship and vehicle, which is of great value for testing of ship and vehicle equipment, motion simulator for training to steer. A novel digital hydraulic 2-DOF motion platform for simulating marine environment is developed. The system configuration and operating principle approximating to open loop control are introduced, which include incremental stepping motor, four-edge slide valve, asymmetric hydraulic cylinder and structure of motion platform, as well as synchronous feedback mechanism. The detailed kinematic and dynamic equations of each component are set up, especially the jump characteristics of valve-controlled asymmetric cylinder is described through the state equation. The nonlinear control model diagram of the system is established in Matlab/Simulink. Comparative analysis of the simulation and experiment results proves the feasibility of the digital hydraulic motion platform.

Key words: 2-DOF motion platform, Asymmetric hydraulic cylinder, Digital hydraulic valve, Nonlinear control model, Stepping motor