CN109813514B - Rigidity control method of six-degree-of-freedom dual-electro-hydraulic vibration table array simulation system - Google Patents
Rigidity control method of six-degree-of-freedom dual-electro-hydraulic vibration table array simulation system Download PDFInfo
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Abstract
The invention discloses a rigidity control method of a six-degree-of-freedom double-electrohydraulic vibration table array simulation system, which comprises the following steps of: establishing an O-XYZ coordinate system by taking the geometric center O of the bridge plate as a control point, and calculating a driving signal x of the valve control cylinder mechanism0(ii) a Calculating a six-degree-of-freedom pose feedback signal y of the array simulation system; calculating a stiffness compensation signal s; the rigidity compensation signal s is used as an input signal of a PID controller, and an output signal of the PID controller is a compensation signal x of the valve control cylinder mechanismd(ii) a Will signal x0And signal xdMaking a difference to obtain a deviation signal x of the valve control cylinder mechanismaAnd driving the six-degree-of-freedom double-electrohydraulic vibration table array simulation system to move. By reasonably controlling the redundant force in the 10 valve control cylinder mechanisms, the invention can increase k in the rigidity matrix61Elemental value, increasing system stiffness. When the oil supply pressure of the hydraulic source is 21MPa, the control method provided by the invention can be applied to enable k in the rigidity matrix to be kRzDxThe maximum increase in (c) was 7%.
Description
Technical Field
The invention relates to a six-degree-of-freedom double-electrohydraulic vibration table, in particular to a rigidity control method of a six-degree-of-freedom double-electrohydraulic vibration table array simulation system.
Background
The electro-hydraulic vibration table is important equipment for simulating a vibration environment, and is widely applied to the fields of spaceflight, automobiles, ships, bridges, civil engineering buildings and the like. With the development of science and technology, the structure size of test piece is bigger and bigger. The single vibration table vibration simulation experiment is difficult to reach the specified motion state to simulate the real vibration environment. The vibration table array simulation system consists of two or more vibration tables, and necessary conditions are created for the vibration simulation test of the large-span structure test piece.
Most of the array simulation systems are redundant driving systems, and the number of driving mechanisms is more than the number of freedom degrees of motion of the systems, so that redundant force can be generated. And through the active regulation and control of the redundant force, the rigidity of the array system can be effectively increased, and the capacity of the system for resisting the external force interference is improved.
The invention relates to a six-freedom-degree double-electro-hydraulic vibration table array simulation platform which is driven by 10 sets of valve control cylinder mechanisms and has six motion degrees of freedom, and belongs to a redundant driving system. The existing control method for the redundant drive system is to eliminate redundant force, lacks effective utilization of the redundant force and cannot improve rigidity of the array simulation system.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to design a rigidity control method of a six-degree-of-freedom dual-electro-hydraulic vibration table array simulation system, which can effectively improve the rigidity and the anti-interference capability of the table array simulation system.
In order to achieve the purpose, the technical scheme of the invention is as follows: a rigidity control method for a six-degree-of-freedom dual-electrohydraulic vibration table array simulation system is disclosed, wherein the six-degree-of-freedom dual-electrohydraulic vibration table comprises the following steps: the device comprises a lower platform, a pier A, a pier B, a bridge plate, an upper platform A, an upper platform B, three horizontal valve control cylinder mechanisms, seven vertical valve control cylinder mechanisms and three reaction walls, wherein the three horizontal valve control cylinder mechanisms are respectively a No. 5 valve control cylinder mechanism, a No. 6 valve control cylinder mechanism and a No. 7 valve control cylinder mechanism, and the seven vertical valve control cylinder mechanisms are respectively a No. 1 valve control cylinder mechanism, a No. 2 valve control cylinder mechanism, a No. 3 valve control cylinder mechanism, a No. 4 valve control cylinder mechanism, a No. 8 valve control cylinder mechanism, a No. 9 valve control cylinder mechanism and a No. 10 valve control cylinder mechanism. The three reaction walls are respectively a No. 1 reaction wall, a No. 2 reaction wall and a No. 3 reaction wall; the outer ends of the No. 5 valve control cylinder mechanism, the No. 6 valve control cylinder mechanism and the No. 7 valve control cylinder mechanism are respectively connected with the No. 1 counter force wall, the No. 2 counter force wall and the No. 3 counter force wall through Hooke joints, and the No. 1 counter force wall, the No. 2 counter force wall and the No. 3 counter force wall are fixed on the lower platform; the inner ends of the No. 5 valve control cylinder mechanism, the No. 6 valve control cylinder mechanism and the No. 7 valve control cylinder mechanism are respectively connected with the upper platform B through Hooke joints; the lower ends of the No. 1 valve control cylinder mechanism, the No. 2 valve control cylinder mechanism, the No. 3 valve control cylinder mechanism, the No. 4 valve control cylinder mechanism, the No. 8 valve control cylinder mechanism, the No. 9 valve control cylinder mechanism and the No. 10 valve control cylinder mechanism are respectively connected with the lower platform through Hooke hinges; the upper ends of the No. 1 valve control cylinder mechanism, the No. 2 valve control cylinder mechanism, the No. 3 valve control cylinder mechanism and the No. 4 valve control cylinder mechanism are respectively connected with the upper platform A through Hooke hinges; the upper ends of the No. 8 valve control cylinder mechanism, the No. 9 valve control cylinder mechanism and the No. 10 valve control cylinder mechanism are respectively connected with the upper platform B through Hooke joints.
The upper platform A is connected with the bridge plate through a pier A; the upper platform B is connected with the bridge plate through the bridge pier B, and the upper platform B and the bridge plate form a six-degree-of-freedom double-electro-hydraulic vibration table integrally.
The specific rigidity control method comprises the following steps:
A. and establishing an O-XYZ coordinate system at the control point by taking the geometric center O of the bridge plate as the control point. The OX shaft negative direction points to the midpoint of a connecting line between the center of the hooke hinge point at the upper end of the No. 2 valve control cylinder mechanism and the center of the hooke hinge point at the upper end of the No. 4 valve control cylinder mechanism from the point O, and the midpoint is perpendicular to the connecting line; the positive direction of the OZ axis points to the lower platform vertically; the directions of three coordinate axes of OX, OY and OZ meet the right-hand rule. The six-degree-of-freedom dual-electrohydraulic vibration table array simulation system has six degrees of freedom, namely rolling motion rotating around an OX shaft, pitching motion rotating around an OY shaft, yawing motion rotating around an OZ shaft, translation along the OX shaft, translation along the OY shaft and translation along the OZ shaft.
Giving a six-degree-of-freedom pose instruction signal Q of the array simulation system0，Q0Is a 6 × 1 column vector and,
Q0＝(Dx Dy Dz Rx Ry Rz)T
where Rx is roll angle, Ry is pitch angle, Rz is yaw angle, Dx is displacement along the X-axis, Dy is displacement along the Y-axis, and Dz is displacement along the Z-axis.
Set platform position and pose feedback signal QdIs (000000)TBy Q0Minus QdObtaining a platform pose deviation signal QaThe platform pose deviation signal QaAs input signal of PI controller, the output signal of PI controller is w, w is 6 × 1 column vector, and the output signal of PI controller is input to freedom degree decomposition matrix HfIn the calculation module, H is obtainedfComputing module output signal x0，x0For valve-controlled cylindersDrive signal of mechanism, x0Is a 10 × 1 column vector, and the calculation formula is:
x0＝Hfw
in the formula, the degree of freedom decomposition matrix HfComprises the following steps:
in the formula (d)1Is a control point O and an upper Hooke hinge point center A of a No. 2 valve control cylinder mechanism2The projection length of the connecting line on the OY axis; d2Is the center A of an upper Hooke hinge point of a No. 2 valve control cylinder mechanism2And the center A of an upper Hooke hinge point of the No. 1 valve control cylinder mechanism1The projection length of the connecting line on the OY axis; d3Is a control point O and an upper Hooke hinge point center A of a No. 2 valve control cylinder mechanism2The projection length of the connecting line on the OX axis; d4Is the center A of an upper Hooke hinge point of a No. 1 valve control cylinder mechanism1And the center A of an upper Hooke hinge point of the No. 3 valve control cylinder mechanism3The projection length of the connecting line on the OX axis; d5Is the geometric center O of the upper platform B1And the center A of an upper Hooke hinge point of a No. 9 valve control cylinder mechanism9The projection length of the connecting line on the OY axis; d6Is the control point O and the geometric center O of the upper platform B1Projected length on the OY axis; d7Is the geometric center O of the upper platform B1And the center A of an upper Hooke hinge point of the No. 8 valve control cylinder mechanism8The projection length of the connecting line on the OX axis; d10Is the geometric center O of the upper platform B1And the center A of an upper Hooke hinge point of a No. 7 valve control cylinder mechanism7The projection length of the connecting line on the OY axis; h is2Is a control point O and an upper Hooke hinge point center A of a No. 7 valve control cylinder mechanism7The projection length of the connecting line on the OZ axis;
B. acquiring displacement signals p of hydraulic cylinders in 10 valve cylinder control mechanisms, wherein p is 10 × 1 column vectors, and inputting the displacement signals p of the hydraulic cylinders in the 10 valve cylinder control mechanisms into a freedom degree synthesis matrix HcIn the control module, six-degree-of-freedom pose feedback signals y of the array simulation system are calculated, wherein y is 6 × 1 column vectors and a degree-of-freedom synthesis matrix HcIs 6 × 10 momentThe calculation formula of the array is as follows:
Hc＝pinv(Hf)
Qd＝Hcp
wherein, pinv (H)f) Representation solving matrix HfMoore-Penrose pseudoinverse of (1);
C. collecting differential pressure signals P of two cavities of hydraulic cylinder in 10 valve control cylinder mechanismsL，PLThe method is a 10 × 1 column vector, a rigidity compensation signal s is obtained through a rigidity controller, s is a 10 × 1 column vector, and the specific method for calculating the rigidity compensation signal s comprises the following steps:
c1, defining a six-degree-of-freedom dual-electro-hydraulic vibration table array simulation system rigidity matrix as follows:
in the formula, kDxDyRepresenting the force of Dx freedom required to generate unit displacement of Dy freedom, and the other elements have the same meanings.
Selecting a material satisfying the equation H.tauc1 and sum (abs (τ)c) ) as the smallest solution as τc，τcFor the normalized redundant force in the 10 valve-controlled cylinder mechanisms, 10 × 1 column vectors are shown, wherein abs (τ)c) Representing a column-pair vector τcCalculating an absolute value; sum (abs (. tau.))c) Is expressed as abs (. tau.) of the calculationc) The sum of the elements in the row vector; h is k in the stiffness matrixRzDxCorrection coefficient of element, 1 × 10 vector:
in the formula (d)8Is the geometric center O of the upper platform B1And the center A of an inner Hooke hinge point of the No. 5 valve control cylinder mechanism5The projection length of the connecting line on the OY axis; l2Is the center A of an inner Hooke hinge point of a No. 5 valve control cylinder mechanism5The length of a connecting line with the center of the outer hook joint; l3Is the center A of an upper Hooke hinge point of a No. 10 valve control cylinder mechanism10The length of a connecting line with the center of the lower hook joint;
c2, according to the tau calculated in the step C1cAnd calculating an output signal s of the rigidity controller, wherein the calculation formula is as follows:
s＝Ae·PL-[pinv(Hf T)(Hf T·Ae·PL)+τr]
in the formula, τrFor compensating force, is a column vector of 10 × 1, PGThe hydraulic pressure source oil supply pressure in the six-freedom-degree double-electro-hydraulic vibration table array simulation system is obtained. A. theeThe effective area of the ring between the piston and the piston rod of the hydraulic cylinder in the valve control cylinder mechanism is the effective area of the ring; the superscript "T" denotes matrix transposition; max (abs (. tau.))c) Is expressed as abs (. tau.) of the calculationc) The maximum element value in the column vector.
D. The rigidity compensation signal s is used as an input signal of a PID controller, and an output signal of the PID controller is a compensation signal x of the valve control cylinder mechanismd。
E. Will signal x0And signal xdMaking a difference to obtain a deviation signal x of the valve control cylinder mechanisma，xaThe input signals of the 10 valve control cylinder mechanisms are input into the 10 valve control cylinder mechanisms to drive the six-degree-of-freedom double-electro-hydraulic vibration table array simulation system to move.
Compared with the prior art, the invention has the following beneficial effects:
1. all steps of the present invention can be implemented by software programming. The test is carried out on an Advantech industrial personal computer IPC-610 with the CPU of Intel PD2.6G and the memory of 1G, the running period of the algorithm is less than 1ms, and the experimental requirement of the array vibration simulation system can be met, so the method is easy to realize by adopting computer digital control.
2. By reasonably controlling the redundant force in the 10 valve control cylinder mechanisms in the rigidity control method, k in the rigidity matrix can be increasedRzDxElemental value, increasing system stiffness. When the oil supply pressure of the hydraulic source is 21MPa, the control method provided by the invention can be applied to ensure thatK in stiffness matrixRzDxThe maximum increase in (c) was 7%.
Drawings
FIG. 1 is a schematic flow diagram of the present invention.
Fig. 2 is a schematic structural diagram of an array simulation system employed in the present invention.
Fig. 3 is a front view of fig. 2.
Fig. 4 is a top view of fig. 2.
In the figure: 1. the hydraulic control system comprises a valve control cylinder mechanism No. 1, a valve control cylinder mechanism No. 2 and 2, a valve control cylinder mechanism No. 3 and 3, a valve control cylinder mechanism No. 4 and 4, a valve control cylinder mechanism No. 5 and 5, a valve control cylinder mechanism No. 6 and 6, a valve control cylinder mechanism No. 7 and 7, a valve control cylinder mechanism No. 8 and 8, a valve control cylinder mechanism No. 9 and 9, a valve control cylinder mechanism No. 10 and 10, a counter force wall No. 11 and 1, a counter force wall No. 12 and 2, a counter force wall No. 13 and 3, a bridge pier A, 15, a bridge pier B, 16, a bridge deck, 17, an upper platform A, 18, an upper platform B, 19 and a lower platform.
Detailed Description
The invention is further described below with reference to the accompanying drawings. As shown in fig. 1 to 4, a method for controlling the stiffness of a six-degree-of-freedom dual-electrohydraulic vibration table array simulation system, the six-degree-of-freedom dual-electrohydraulic vibration table comprises: the hydraulic control device comprises a lower platform 19, a pier A14, a pier B15, a bridge plate 16, an upper platform A17, an upper platform B18, three horizontal valve control cylinder mechanisms, seven vertical valve control cylinder mechanisms and three reaction walls, wherein the three horizontal valve control cylinder mechanisms are a No. 5 valve control cylinder mechanism 5, a No. 6 valve control cylinder mechanism 6 and a No. 7 valve control cylinder mechanism 7 respectively, and the seven vertical valve control cylinder mechanisms are a No. 1 valve control cylinder mechanism 1, a No. 2 valve control cylinder mechanism 2, a No. 3 valve control cylinder mechanism 3, a No. 4 valve control cylinder mechanism 4, a No. 8 valve control cylinder mechanism 8, a No. 9 valve control cylinder mechanism 9 and a No. 10 valve control cylinder mechanism 10 respectively. The three reaction walls are a No. 1 reaction wall 11, a No. 2 reaction wall 12 and a No. 3 reaction wall 13 respectively; the outer ends of the No. 5 valve control cylinder mechanism 5, the No. 6 valve control cylinder mechanism 6 and the No. 7 valve control cylinder mechanism 7 are respectively connected with the No. 1 reaction wall 11, the No. 2 reaction wall 12 and the No. 3 reaction wall 13 through Hooke joints, and the No. 1 reaction wall 11, the No. 2 reaction wall 12 and the No. 3 reaction wall 13 are fixed on the lower platform 19; the inner ends of the No. 5 valve control cylinder mechanism 5, the No. 6 valve control cylinder mechanism 6 and the No. 7 valve control cylinder mechanism 7 are respectively connected with an upper platform B18 through Hooke hinges; the lower ends of the No. 1 valve control cylinder mechanism 1, the No. 2 valve control cylinder mechanism 2, the No. 3 valve control cylinder mechanism 3, the No. 4 valve control cylinder mechanism 4, the No. 8 valve control cylinder mechanism 8, the No. 9 valve control cylinder mechanism 9 and the No. 10 valve control cylinder mechanism 10 are respectively connected with the lower platform 19 through Hooke hinges; the upper ends of the No. 1 valve control cylinder mechanism 1, the No. 2 valve control cylinder mechanism 2, the No. 3 valve control cylinder mechanism 3 and the No. 4 valve control cylinder mechanism 4 are respectively connected with an upper platform A17 through Hooke joints; the upper ends of the No. 8 valve control cylinder mechanism 8, the No. 9 valve control cylinder mechanism 9 and the No. 10 valve control cylinder mechanism 10 are respectively connected with an upper platform B18 through Hooke hinges.
The upper platform A17 is connected with the bridge plate 16 through a pier A14; the upper platform B18 is connected with the bridge plate 16 through a pier B15, and the upper platform B18 and the bridge plate form a six-degree-of-freedom double-electro-hydraulic vibration table integrally.
The specific rigidity control method comprises the following steps:
A. an O-XYZ coordinate system is established at the control point by taking the geometric center O of the bridge plate 16 as the control point. The OX shaft negative direction points to the midpoint of a connecting line between the center of the hooke hinge point at the upper end of the No. 2 valve control cylinder mechanism 2 and the center of the hooke hinge point at the upper end of the No. 4 valve control cylinder mechanism 4 from the point O, and the midpoint is perpendicular to the connecting line; the positive OZ-axis direction is directed vertically toward the lower platform 19; the directions of three coordinate axes of OX, OY and OZ meet the right-hand rule. The six-degree-of-freedom dual-electrohydraulic vibration table array simulation system has six degrees of freedom, namely rolling motion rotating around an OX shaft, pitching motion rotating around an OY shaft, yawing motion rotating around an OZ shaft, translation along the OX shaft, translation along the OY shaft and translation along the OZ shaft.
Giving a six-degree-of-freedom pose instruction signal Q of the array simulation system0，Q0Is a 6 × 1 column vector and,
Q0＝(Dx Dy Dz Rx Ry Rz)T
where Rx is roll angle, Ry is pitch angle, Rz is yaw angle, Dx is displacement along the X-axis, Dy is displacement along the Y-axis, and Dz is displacement along the Z-axis.
Set platform position and pose feedback signal QdIs (000000)TBy Q0Minus QdObtaining a platform pose deviation signal QaThe platform pose deviation signal QaAs input signal of PI controller, the output signal of PI controller is w, w is 6 × 1 column vector, and the output signal of PI controller is input to freedom degree decomposition matrix HfIn the calculation module, H is obtainedfComputing module output signal x0，x0Is a drive signal of a valve-controlled cylinder mechanism, x0Is a 10 × 1 column vector, and the calculation formula is:
x0＝Hfw
in the formula, the degree of freedom decomposition matrix HfComprises the following steps:
in the formula (d)1Is a control point O and an upper Hooke hinge point center A of a No. 2 valve control cylinder mechanism 22The projection length of the connecting line on the OY axis; d2Is the center A of an upper Hooke hinge point of a No. 2 valve control cylinder mechanism 22The center A of an upper Hooke hinge point of the No. 1 valve control cylinder mechanism 11The projection length of the connecting line on the OY axis; d3Is a control point O and an upper Hooke hinge point center A of a No. 2 valve control cylinder mechanism 22The projection length of the connecting line on the OX axis; d4Is the center A of an upper Hooke hinge point of a No. 1 valve control cylinder mechanism 11And the center A of an upper Hooke hinge point of the No. 3 valve control cylinder mechanism 33The projection length of the connecting line on the OX axis; d5Is the geometric center O of the upper platform B181And the center A of an upper Hooke hinge point of the No. 9 valve control cylinder mechanism 99The projection length of the connecting line on the OY axis; d6Is the control point O and the geometric center O of the upper platform B181Projected length on the OY axis; d7Is the geometric center O of the upper platform B181And the center A of an upper Hooke hinge point of the No. 8 valve control cylinder mechanism 88The projection length of the connecting line on the OX axis; d10Is the geometric center O of the upper platform B181And the center A of an upper Hooke hinge point of the No. 7 valve control cylinder mechanism 77The projection length of the connecting line on the OY axis; h is2Is a control point O and an upper Hooke hinge point center A of a No. 7 valve control cylinder mechanism 77The projection length of the connecting line on the OZ axis;
B. acquiring displacement signals p of hydraulic cylinders in 10 valve cylinder control mechanisms, wherein p is 10 × 1 column vectors, and inputting the displacement signals p of the hydraulic cylinders in the 10 valve cylinder control mechanisms into a freedom degree synthesis matrix HcIn the control module, six-degree-of-freedom pose feedback signals y of the array simulation system are calculated, wherein y is 6 × 1 column vectors and a degree-of-freedom synthesis matrix HcFor a 6 × 10 matrix, the calculation formula is:
Hc＝pinv(Hf)
Qd＝Hcp
wherein, pinv (H)f) Representation solving matrix HfMoore-Penrose pseudoinverse of (1);
C. collecting differential pressure signals P of two cavities of hydraulic cylinder in 10 valve control cylinder mechanismsL，PLThe method is a 10 × 1 column vector, a rigidity compensation signal s is obtained through a rigidity controller, s is a 10 × 1 column vector, and the specific method for calculating the rigidity compensation signal s comprises the following steps:
c1, defining a six-degree-of-freedom dual-electro-hydraulic vibration table array simulation system rigidity matrix as follows:
in the formula, kDxDyRepresenting the force of Dx freedom required to generate unit displacement of Dy freedom, and the other elements have the same meanings.
Selecting a material satisfying the equation H.tauc1 and sum (abs (τ)c) ) as the smallest solution as τc，τcFor the normalized redundant force in the 10 valve-controlled cylinder mechanisms, 10 × 1 column vectors are shown, wherein abs (τ)c) Representing a column-pair vector τcCalculating an absolute value; sum (abs (. tau.))c) Is expressed as abs (. tau.) of the calculationc) The sum of the elements in the row vector; h is k in the stiffness matrixRzDxCorrection coefficient of element, 1 × 10 vector:
in the formula (d)8Is the geometric center O of the upper platform B181And the center A of an inner Hooke hinge point of the No. 5 valve control cylinder mechanism 55The projection length of the connecting line on the OY axis; l2Is the center A of an inner hooke hinge point of a No. 5 valve control cylinder mechanism 55The length of a connecting line with the center of the outer hook joint; l3Is the center A of an upper Hooke hinge point of a No. 10 valve control cylinder mechanism 1010The length of a connecting line with the center of the lower hook joint;
c2, according to the tau calculated in the step C1cAnd calculating an output signal s of the rigidity controller, wherein the calculation formula is as follows:
in the formula, τrFor compensating force, is a column vector of 10 × 1, PGThe hydraulic pressure source oil supply pressure in the six-freedom-degree double-electro-hydraulic vibration table array simulation system is obtained. A. theeThe effective area of the ring between the piston and the piston rod of the hydraulic cylinder in the valve control cylinder mechanism is the effective area of the ring; the superscript "T" denotes matrix transposition; max (abs (. tau.))c) Is expressed as abs (. tau.) of the calculationc) The maximum element value in the column vector.
D. The rigidity compensation signal s is used as an input signal of a PID controller, and an output signal of the PID controller is a compensation signal x of the valve control cylinder mechanismd。
E. Will signal x0And signal xdMaking a difference to obtain a deviation signal x of the valve control cylinder mechanisma，xaThe input signals of the 10 valve control cylinder mechanisms are input into the 10 valve control cylinder mechanisms to drive the six-degree-of-freedom double-electro-hydraulic vibration table array simulation system to move.
The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.
Claims (1)
1. A rigidity control method for a six-degree-of-freedom dual-electrohydraulic vibration table array simulation system is disclosed, wherein the six-degree-of-freedom dual-electrohydraulic vibration table comprises the following steps: the device comprises a lower platform (19), a pier A (14), a pier B (15), a bridge plate (16), an upper platform A (17), an upper platform B (18), three horizontal valve control cylinder mechanisms, seven vertical valve control cylinder mechanisms and three reaction walls, wherein the three horizontal valve control cylinder mechanisms are a No. 5 valve control cylinder mechanism (5), a No. 6 valve control cylinder mechanism (6) and a No. 7 valve control cylinder mechanism (7), and the seven vertical valve control cylinder mechanisms are a No. 1 valve control cylinder mechanism (1), a No. 2 valve control cylinder mechanism (2), a No. 3 valve control cylinder mechanism (3), a No. 4 valve control cylinder mechanism (4), a No. 8 valve control cylinder mechanism (8), a No. 9 valve control cylinder mechanism (9) and a No. 10 valve control cylinder mechanism (10); the three reaction walls are a No. 1 reaction wall (11), a No. 2 reaction wall (12) and a No. 3 reaction wall (13) respectively; the outer ends of the No. 5 valve control cylinder mechanism (5), the No. 6 valve control cylinder mechanism (6) and the No. 7 valve control cylinder mechanism (7) are respectively connected with the No. 1 reaction wall (11), the No. 2 reaction wall (12) and the No. 3 reaction wall (13) through Hooke hinges, and the No. 1 reaction wall (11), the No. 2 reaction wall (12) and the No. 3 reaction wall (13) are fixed on the lower platform (19); the inner ends of the No. 5 valve control cylinder mechanism (5), the No. 6 valve control cylinder mechanism (6) and the No. 7 valve control cylinder mechanism (7) are respectively connected with an upper platform B (18) through Hooke joints; the lower ends of the No. 1 valve control cylinder mechanism (1), the No. 2 valve control cylinder mechanism (2), the No. 3 valve control cylinder mechanism (3), the No. 4 valve control cylinder mechanism (4), the No. 8 valve control cylinder mechanism (8), the No. 9 valve control cylinder mechanism (9) and the No. 10 valve control cylinder mechanism (10) are respectively connected with the lower platform (19) through Hooke hinges; the upper ends of the No. 1 valve control cylinder mechanism (1), the No. 2 valve control cylinder mechanism (2), the No. 3 valve control cylinder mechanism (3) and the No. 4 valve control cylinder mechanism (4) are respectively connected with an upper platform A (17) through Hooke hinges; the upper ends of the No. 8 valve control cylinder mechanism (8), the No. 9 valve control cylinder mechanism (9) and the No. 10 valve control cylinder mechanism (10) are respectively connected with an upper platform B (18) through Hooke joints;
the upper platform A (17) is connected with the bridge plate (16) through a pier A (14); the upper platform B (18) is connected with the bridge plate (16) through a pier B (15), and the upper platform B and the bridge plate form a six-degree-of-freedom double-electro-hydraulic vibration table integrally;
the method is characterized in that: the specific rigidity control method comprises the following steps:
A. establishing an O-XYZ coordinate system at a control point by taking the geometric center O of the bridge plate (16) as the control point; the OX shaft negative direction points to the midpoint of a connecting line between the center of the hooke hinge point at the upper end of the No. 2 valve control cylinder mechanism (2) and the center of the hooke hinge point at the upper end of the No. 4 valve control cylinder mechanism (4) from the point O, and the OX shaft negative direction is perpendicular to the connecting line; the positive direction of the OZ axis points to the lower platform (19) vertically; the directions of three coordinate axes of OX, OY and OZ meet the right-hand rule; the six-degree-of-freedom dual-electrohydraulic vibration table array simulation system has six degrees of freedom, namely rolling motion rotating around an OX shaft, pitching motion rotating around an OY shaft, yawing motion rotating around an OZ shaft, translation along the OX shaft, translation along the OY shaft and translation along the OZ shaft;
giving a six-degree-of-freedom pose instruction signal Q of the array simulation system0，Q0Is a 6 × 1 column vector and,
Q0＝(Dx Dy Dz Rx Ry Rz)T
where Rx is roll angle, Ry is pitch angle, Rz is yaw angle, Dx is displacement along the X-axis, Dy is displacement along the Y-axis, and Dz is displacement along the Z-axis;
set platform position and pose feedback signal QdIs (000000)TBy Q0Minus QdObtaining a platform pose deviation signal QaThe platform pose deviation signal QaAs input signal of PI controller, the output signal of PI controller is w, w is 6 × 1 column vector, and the output signal of PI controller is input into freedom degree decomposition matrix HfIn the calculation module, H is obtainedfComputing module output signal x0，x0Is a drive signal of a valve-controlled cylinder mechanism, x0Is a 10 × 1 column vector, and the calculation formula is:
x0＝Hfw
in the formula, the degree of freedom decomposition matrix HfComprises the following steps:
in the formula (d)1Is a control point O and the center A of an upper Hooke hinge point of a No. 2 valve control cylinder mechanism (2)2The projection length of the connecting line on the OY axis; d2Is the center A of an upper Hooke hinge point of a No. 2 valve control cylinder mechanism (2)2The center A of an upper Hooke hinge point of the No. 1 valve control cylinder mechanism (1)1The projection length of the connecting line on the OY axis; d3Is a control point O and the center A of an upper Hooke hinge point of a No. 2 valve control cylinder mechanism (2)2The projection length of the connecting line on the OX axis; d4Is the center A of an upper Hooke hinge point of a No. 1 valve control cylinder mechanism (1)1The center A of an upper Hooke hinge point of the No. 3 valve control cylinder mechanism (3)3The projection length of the connecting line on the OX axis; d5Is the geometric center O of the upper platform B (18)1And the center A of an upper Hooke hinge point of a No. 9 valve control cylinder mechanism (9)9The projection length of the connecting line on the OY axis; d6For the control point O and the geometric center O of the upper platform B (18)1Projected length on the OY axis; d7Is the geometric center O of the upper platform B (18)1The center A of an upper Hooke hinge point of the No. 8 valve control cylinder mechanism (8)8The projection length of the connecting line on the OX axis; d10Is the geometric center O of the upper platform B (18)1And the center A of an upper Hooke hinge point of a No. 7 valve control cylinder mechanism (7)7The projection length of the connecting line on the OY axis; h is2Is a control point O and an upper Hooke hinge point center A of a No. 7 valve control cylinder mechanism (7)7The projection length of the connecting line on the OZ axis;
B. collecting displacement signals p of hydraulic cylinders in 10 valve cylinder control mechanisms, wherein p is 10 × 1 column vectors, and inputting the displacement signals p of the hydraulic cylinders in the 10 valve cylinder control mechanisms into a freedom degree synthesis matrix HcIn the control module, six-degree-of-freedom pose feedback signals y of the array simulation system are calculated to be 6 × 1 column vectors, and a degree-of-freedom synthesis matrix HcFor a 6 × 10 matrix, the calculation formula is:
Hc＝pinv(Hf)
Qd＝Hcp
wherein, pinv (H)f) Representation solving matrix HfMoore-Penrose pseudoinverse of (1);
C. collecting differential pressure signals P of two cavities of hydraulic cylinder in 10 valve control cylinder mechanismsL，PLIs a column vector of 10 × 1, a rigidity compensation signal s is obtained through a rigidity controller, s is a column vector of 10 × 1, and the concrete of the rigidity compensation signal s is calculatedThe method comprises the following steps:
c1, defining a six-degree-of-freedom dual-electro-hydraulic vibration table array simulation system rigidity matrix as follows:
in the formula, kDxDyThe force of Dx freedom degree required for generating Dy freedom degree unit displacement is expressed, and the meanings of other elements are similar;
selecting a material satisfying the equation H.tauc1 and sum (abs (τ)c) ) as the smallest solution as τc，τcThe normalized redundant force in 10 valve-controlled cylinder mechanisms is 10 × 1 column vectors, wherein abs (tau)c) Representing a column-pair vector τcCalculating an absolute value; sum (abs (. tau.))c) Is expressed as abs (. tau.) of the calculationc) The sum of the elements in the row vector; h is k in the stiffness matrixRzDxCorrection coefficient of element, 1 × 10 vector:
in the formula (d)8Is the geometric center O of the upper platform B (18)1And the center A of an inner hooke hinge point of the No. 5 valve control cylinder mechanism (5)5The projection length of the connecting line on the OY axis; l2Is the center A of an inner hooke hinge point of a No. 5 valve control cylinder mechanism (5)5The length of a connecting line with the center of the outer hook joint; l3Is the center A of an upper Hooke hinge point of a No. 10 valve control cylinder mechanism (10)10The length of a connecting line with the center of the lower hook joint;
c2, according to the tau calculated in the step C1cAnd calculating an output signal s of the rigidity controller, wherein the calculation formula is as follows:
s＝Ae·PL-[pinv(Hf T)(Hf T·Ae·PL)+τr]
in the formula, τrFor compensating force, is a column vector of 10 × 1, PGThe oil supply pressure of a hydraulic source in the six-degree-of-freedom dual-electro-hydraulic vibration table array simulation system is provided; a. theeThe effective area of the ring between the piston and the piston rod of the hydraulic cylinder in the valve control cylinder mechanism is the effective area of the ring; the superscript "T" denotes matrix transposition; max (abs (. tau.))c) Is expressed as abs (. tau.) of the calculationc) The maximum element value in the column vector;
D. the rigidity compensation signal s is used as an input signal of a PID controller, and an output signal of the PID controller is a compensation signal x of the valve control cylinder mechanismd；
E. Will signal x0And signal xdMaking a difference to obtain a deviation signal x of the valve control cylinder mechanisma，xaThe input signals of the 10 valve control cylinder mechanisms are input into the 10 valve control cylinder mechanisms to drive the six-degree-of-freedom double-electro-hydraulic vibration table array simulation system to move.
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