基于振动与加载多元耦合的超冗余驱动电液系统协调控制研究

本项目以六自由度振动模拟和六通道协调加载集成的超冗余驱动电液系统为研究对象，以揭示振动与加载多元耦合本征特性、提高多元耦合协调控制性能为目标，针对系统动态耦合特性差及干扰耦合严重等问题，运用并联机构学和电液伺服控制系统等理论，开展系统的多元耦合协调控制研究。建立振动加载冗余驱动多元耦合模型，掌握内力及力位耦合规律，建立力位及内力耦合矩阵，研究内力解耦控制；建立振动与加载相互干扰耦合模型，掌握干扰耦合规律，建立干扰耦合矩阵，研究干扰耦合抑制方法；建立系统刚柔耦合动力学模型，掌握振动与加载多元耦合传递特性，建立其多元耦合矩阵，研究多元耦合协调控制，提高多元耦合控制性能；研究鲁棒控制及软冗余切换机制，保障系统在极端服役下的安全运行；开展实验研究，集成模拟振动加载多元耦合对被试件整体耦合性能的影响，揭示多元耦合规律及其协调控制机制，实现对高铁转向架、航天器地面模拟等的多元耦合力学环境模拟。

A multi-redundant controlled electro-hydraulic servo system incorporating a 6 degree-of-freedom electro-hydraulic shaking table and a 6 channels force loading system is theoretically studied and experimentally verified. In order to investigate the multi-coupling essential characteristics subjected to 6DOF vibration and 6 channels force loading and to improve the expected multi-coupling tracking accuracy, some important theories such as parallel manipulator and electro-hydraulic servo control system, system identification, robust control, etc, and coordination control of multi-redundant controlled electro-hydraulic servo system is studied in the project to solve the effects of dynamic disturbance coupling. A redundant parallel manipulator multi-coupling model is established to master the characteristics of internal coupling force and force/position coupling. An internal coupling force and force/position coupling matrix is established for the research on the control for decoupling of internal coupling force. To grasp the characteristics of disturbance coupling, a disturbance coupling model of vibration and force loading is established. Then, the disturbance coupling matrix is obtained to explore the methods for disturbance coupling suppression. The dynamic model of rigid-flexible coupling system is established to obtain the transfer characteristics of multi-coupling based on vibration and force loading. Then, a multi-coupling matrix is established to investigate the coordination control of multi-coupling and improve the performance of multi-coupling coordination control. In order to maintain the safe operation of the system under extremely severe condition, some important theories including robust control and redundant switch scheme is employed to improve the robust stability of the electro-hydraulic servo system. On the basis of above-mentioned research, integrated simulating the influence of vibration and force loading multi-coupling on the coupling performance of specimen, the characteristics of multi-coupling and mechanism of coordination control with experiment to improve the investigation ability of bogie and ground-based simulation system of spacecraft .