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Servo control based on kinematics analysis of 6 DOF hydraulic shaker

机译:基于六自由度液压振动筛运动学分析的伺服控制

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摘要

The new servo control algorithm based on kinematics analysis of 6 DOF (degree of freedom) hydraulic shaker is presented to improve the control precision of the system. The forward solution and jacobian matrix replace the DOF composition and decomposition matrixes in conventional servo control system. The new servo control structure is developed based on the three-variable controller and force balance controller. Sine vibration tests are run in one 6 DOF hydraulic shaker with the new algorithm. Test results show that it is favorable to improve the performance index of acceleration transverse components of the control system.
机译:提出了基于六自由度液压摇床运动学分析的新型伺服控制算法,以提高系统的控制精度。正解和雅可比矩阵取代了常规伺服控制系统中的自由度组成和分解矩阵。基于三变量控制器和力平衡控制器开发了新的伺服控制结构。正弦振动测试是在采用新算法的一台6自由度液压振动筛中进行的。测试结果表明,有利于提高控制系统横向加速度分量的性能指标。

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