中南大学学报（自然科学版）2017，Vol.48Issue(11)：2897-2905,9.DOI:10.11817/j.issn.1672-7207.2017.11.008
液压驱动冗余并联机构内力分析及抑制
Internal force analysis and rejection of hydraulically driven redundant parallel mechanism
摘要
Abstract
To analyze the internal force characteristics and reduce the internal force of hydraulically driven parallel mechanism, the internal force space and its basis were described firstly. The influence of different factors on internal force of the system was discussed under the freedom control framework. Then an internal force rejection strategy based on the error-based minimal control synthesis with integral action (Er-MCSI) algorithm was proposed for the HDRPM with high nonlinearity, time-varying parameters and external disturbance. Finally, taking a six degrees-of-freedom (DOF) HDRPM with two redundant DOF as an example, under the working conditions of equal displacement, equal velocity and equal acceleration, the influence of different factors on internal force of the system was investigated. The proposed internal force rejection strategy was implemented. The results show that the control method can online adjust the parameters adaptively online and reduce the internal force effectively.关键词
液压驱动/冗余并联机构/内力抑制/最小控制综合Key words
hydraulically driven/redundant parallel mechanism/internal force rejection/minimal control synthesis分类
信息技术与安全科学引用本文复制引用
高长虹,杨志东,丛大成,韩俊伟,杨炽夫..液压驱动冗余并联机构内力分析及抑制[J].中南大学学报（自然科学版）,2017,48(11):2897-2905,9.基金项目
国家自然科学基金资助项目(51205077,51475116) (Projects(51205077, 51475116) supported by the National Natural Science Foundation of China) （51205077,51475116）
