CAJ | 학술논문

为了解决三轴六自由度电液振动台自由度之间耦合问题，提出一种基于逆模型的前馈补偿器解耦策略。对多轴电液振动台的系统传递函数转化为矩阵型式并进行分析，推导出基于系统逆模型解耦控制方案，利用递推增广最小二乘法（Recursive Extended Least Square，RELS）及零相差跟踪技术（Zero Phase Error Tracking，ZPET）设计出系统逆模型并得到相应的解耦控制器。最后，利用六自由度电液振动台对提出的算法进行实验验证。实验结果表明，解耦后的系统性能得到较大改善，一定程度上降低了耦合信号。
위료해결삼축륙자유도전액진동태자유도지간우합문제，제출일충기우역모형적전궤보상기해우책략。대다축전액진동태적계통전체함수전화위구진형식병진행분석，추도출기우계통역모형해우공제방안，이용체추증엄최소이승법（Recursive Extended Least Square，RELS）급령상차근종기술（Zero Phase Error Tracking，ZPET）설계출계통역모형병득도상응적해우공제기。최후，이용륙자유도전액진동태대제출적산법진행실험험증。실험결과표명，해우후적계통성능득도교대개선，일정정도상강저료우합신호。
To solve the coupling problem among DOFs of a Triaxial 6-DOF electro-hydraulic shaking table (EHST),a feedforward compensation decoupling strategy was proposed based on an inverse model.Firstly,for the multi-axis electro-hydraulic shaking table,its system transfer function was taken as a form of matrix and analyzed to deduce the decoupling control scheme based on the system inverse model.Then,the system inverse model and corresponding decoupling controller were obtained by employing the recursive extended least square algorithm (RELS)and the zero phase error tracking technology (ZPET).Finaly,tests were conducted on a 6-DOF electro-hydraulic shaking table to verify the validity of the proposed algorithm.The results demonstrated that the proposed decoupling control strategy can greatly improve the system performance.