复杂多向转动液压并联机构位置探测系统优化设计

Optimal Design of Position Detection System for Complex Multi Direction Rotation Hydraulic Parallel Mechanism

多向转动液压并联机构广泛应用于复杂的机械工业场景中,其位置探测系统需要实时高精度的获取位置信息。针对多向转动液压驱动并联机构具有极强的机械耦合性,复杂工况下位置探测精度误差大的问题,在多向转动液压并联机构运动学模型基础上,通过对有源敏感器件的信息特征分析,构建了全维动态观测器来实时观测该系统的实时状态,进一步对多向转动液压驱动并联机构位置探测系统模型进行重构,利用最小方差自校正和自适应PID控制方法减小位置探测误差,构建了位置探测系统的实验平台,实验结果表明,采用双重控制方法能够快速的提高位置探测系统的位置探测精度,实现整个系统的强鲁棒性。

The multi-directional rotation hydraulic parallel mechanism is widely used in the complex industrial scene,and its position detection system needs real-time and high-precision acquisition of position information.Aiming at the problem that the multi-directional hydraulic parallel mechanism has strong mechanical coupling and large position detection accuracy error under complex working conditions,based on the kinematics model of the multi-directional hydraulic parallel mechanism,a full order dynamic observer is constructed to observe the real-time state of the system by analyzing the information characteristics of the active sensing devices,so as to further study the multi-directional hydraulic parallel mechanism.The model of the position detection system of the driving parallel mechanism is reconstructed,and the minimum variance self-tuning and adaptive PID control methods are used to reduce the position detection error.The position detection system experiment platform is built.The experiment results show that the double control method can quickly improve the position detection accuracy of the position detection system and realize the control of the whole system Strong robustness.