农业机械学报2024，Vol.55Issue(6)：414-423,433,11.DOI:10.6041/j.issn.1000-1298.2024.06.042
基于直驱并联机构的六自由度振动校准系统研究
Development of 6-DOF Vibration Calibration System Based on Direct Drive Parallel Manipulator
摘要
Abstract
The 6-DOF vibration calibration system based on direct drive parallel mechanisms can achieve high precision and multi-degree-of-freedom motion simulation and calibration,showing promising application prospects.To address the issue of low tracking accuracy of slider positions in the driven joint of the platform,a dynamic torque feedforward compensation analysis was conducted on this mechanism.Firstly,the dynamic model of the mechanism was established by using the principle of virtual work.Then,traditional servo control was done based on motion controller.A control strategy was proposed that combined a fundamental servo algorithm with dynamic feedforward compensation.Experimental torque compensation was conducted on the prototype,verifying the effectiveness of dynamic torque feedforward compensation in enhancing the position tracking accuracy of each driven joint slider and accelerating the response speed of the driven joint sliders.Experimental results demonstrated that by incorporating torque feedforward compensation into the open-loop servo program,the tracking errors of the mechanism during motion can be reduced.Specifically,during single-degree-of-freedom sinusoidal motions with different amplitudes,the tracking errors were decreased by 40.32％,39.04％,43.24％,and 48.19％,respectively.Furthermore,performance testing experiments were carried out on the vibration platform.A laser measurement system and data acquisition module were set up on the platform to perform sensor calibration and performance analysis.关键词
六自由度振动校准系统/虚功原理/动力学前馈补偿/传感器校准Key words
6-DOF vibration calibration system/virtual work principle/dynamic feedforward compensation/sensor calibration分类
信息技术与安全科学引用本文复制引用
翟国栋,常浩,刘志华,蔡晨光,王耀辉,王利民,孙瑞峰..基于直驱并联机构的六自由度振动校准系统研究[J].农业机械学报,2024,55(6):414-423,433,11.基金项目
国家自然科学基金项目(52075512)、中央高校基本科研业务费专项资金项目(2022YJSJD25)、中国华能集团总部科技项目(HNKJ22-HF131)和中国计量科学研究院基本科研业务费重点领域项目(AKYZD2302) （52075512）
