CAJ | 학술논문

针对工业应用中并联机构采用常规铰接形式导致的系统过阻尼问题，提出了带动压正反馈的模态空间控制器，该控制器将物理空间内强耦合的多输入多输出系统转化为模态空间内解耦的6个相互独立的单输入单输出系统，运用动压正反馈技术实现对存在过阻尼特性自由度的独立调节，从而将各自由度频宽扩展至固有频率附近。文中首先运用模态解耦理论分析了被动关节阻尼对液压驱动Stewart平台控制特性的影响，随后给出了带动压反馈的模态空间控制器结构及设计方法，最后对该方法进行了实验验证。试验结果表明，该模态空间控制器能够有效扩展系统频宽，从而实现降低系统各自由度耦合影响、提高响应速度的目的。
침대공업응용중병련궤구채용상규교접형식도치적계통과조니문제，제출료대동압정반궤적모태공간공제기，해공제기장물리공간내강우합적다수입다수출계통전화위모태공간내해우적6개상호독립적단수입단수출계통，운용동압정반궤기술실현대존재과조니특성자유도적독립조절，종이장각자유도빈관확전지고유빈솔부근。문중수선운용모태해우이론분석료피동관절조니대액압구동Stewart평태공제특성적영향，수후급출료대동압반궤적모태공간공제기결구급설계방법，최후대해방법진행료실험험증。시험결과표명，해모태공간공제기능구유효확전계통빈관，종이실현강저계통각자유도우합영향、제고향응속도적목적。
In order to overcome the system over-damping caused by the conventional hinged form commonly-used in parallel manipulators in industry , a modal space controller with positive pressure feedback is presented .In this controller , the highly-coupled multiple-input multiple-output systems in the physical space are transformed into six independent single-input single-output decoupled systems in the modal space , and the positive pressure feedback technology is employed to tune each degree of freedom ( DOF) with over-damping independently and to broaden the bandwidth of each DOF to the eigenfrequencies .In the investigation, first, the influence of passive joint damping on the control characteristics of a hydraulically-driven Stewart platform is analyzed based on the modal decoupling theory.Then, the structure and the design method of the modal space controller with pressure feedback are pre -sented.Finally, an experiment is carried out to testify the effectiveness of the proposed controller .The results in-dicate that the designed modal space controller effectively broadens the system bandwidth , thus reducing the cou-pling effect between each two DOFs and improving the response speed .