电液驱动3-UPS/S并联稳定平台的动力学参数辨识

Identification of Dynamics Parameters for an Electro-hydraulic 3-UPS/S Parallel Stabilized Paltform

以电液驱动并联稳定平台为研究对象,对平台惯性参数和驱动关节液压缸摩擦参数进行了基于实验的辨识研究。利用关键点旋量等效原则和虚功原理构建了平台惯性参数辨识模型,以五次多项式改进的傅里叶级数构造了激励轨迹,并进行了优化;基于液压缸摩擦力模型,分离出模型中固有的摩擦参数,建立了摩擦参数辨识模型,并规划了辨识轨迹。通过辨识实验得到了惯性参数及摩擦参数的辨识结果,利用任意轨迹实验对结果进行了验证。

An electro-hydraulic parallel stabilized paltform was selected as the research object,and the inertia and friction parameters of the system were identified via the experiments.The identification model for the inertia parameters was obtained by screw equivalence principle and virtual work principle,and the exciting trajectory was designed by Fourier series which was modified by quintic polynomial and optimized.The intrinsic friction parameters were separated from the friction model,the identification model for the friction parameters was built,and the exciting trajectories were planned.The identification results were obtained by the experiments,and verified through an arbitrary trajectory.