CAJ | 학술논문

电液驱动Stewart平台是一个多输入多输出复杂并联机构, 各通道间存在严重负载交联耦合.在确定平台各通道性能参数时,按照简单的阀控缸系统进行理论计算或系统辨识,结果和实际情况相差极大,这严重影响平台控制系统的设计和系统性能的提高.为了解决上述问题,设计一种基于Levenberg-Marquardt寻优算法的六维互不相关信号激励的Stewart平台闭环辨识算法,并应用于电液驱动Stewart平台试验样机.试验结果表明该辨识算法准确地辨识出平台通道性能参数,取得较满意的辨识结果.
전액구동Stewart평태시일개다수입다수출복잡병련궤구, 각통도간존재엄중부재교련우합.재학정평태각통도성능삼수시,안조간단적벌공항계통진행이론계산혹계통변식,결과화실제정황상차겁대,저엄중영향평태공제계통적설계화계통성능적제고.위료해결상술문제,설계일충기우Levenberg-Marquardt심우산법적륙유호불상관신호격려적Stewart평태폐배변식산법,병응용우전액구동Stewart평태시험양궤.시험결과표명해변식산법준학지변식출평태통도성능삼수,취득교만의적변식결과.
Stewart platform driven by electro-hydraulic system is a multi-input and multi-output baroque parallel mechanism, in which serious load-coupling phenomenon occurs between channels. Generally performance parameters of each channel of platfrom are computed or identified according to the theory of servo-valve controlling cylinder system, the results obtained are different from practical operation conditions greatly, which affects the design and performance improvement of the platform control system severely. In order to solve the above problem, a kind of closed-loop identification algorithm of Stewart platform is designed on the basis of Levenberg-Marquardt optimization algorithm and a six-dimension uncorrelated exciting signals, and the experimental research on parameters identification is done on Stewart platform driven by electro-hydraulic test prototype. Experiment results show that the identification algorithm can identify the platform channels performance parameters precisely, and satisfactory identification results are obtained.