Modeling and Control of the CSCEC Multi-Function Testing System

Gao, Changhong; Zheng, Shiqiang; Cong, Dacheng; Han, Junwei; Yang, Zhidong; Sun, Jianyun

doi:10.1080/13632469.2016.1217806

Cited by 5 publications

(7 citation statements)

References 19 publications

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“…First, since redundant actuation is adopted, it generates antagonistic actuator forces without external influence. The inconsistence of dynamic characteristics of actuators, zero-drifts of servo valve and uncertainties of geometric model usually produce undesirable internal forces [31]. The large internal forces reduce the control performance of the system and even damage the mechanical parts unless they were balanced.…”

Section: B System Features and Control Schemementioning

confidence: 99%

The Applications of Compliant Motion Control Technique on 6-DOF Hydraulic Parallel Mechanism

Zheng

Gao²,

Niu

et al. 2019

IEEE Access

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Most interaction control formulations focused on electrically driven parallel mechanism. In this paper, the combining practice applications of compliant motion control technique on six degrees of freedom (6-DOF) hydraulic parallel mechanism (HPM) are investigated. According to the manipulation task specification and hydraulic control system characteristics, three different compliant motion control schemes are presented in three typical application scenarios, respectively: a parallel position/force control scheme in the joint space coordinate for train curve negotiation performance test, a hybrid position/force control scheme with the internal force suppression for shaking table with actuation redundancy, and a hybrid impedance control scheme for auto-docking mechanism based on force and vision. The feasibility and effectiveness of the proposed schemes were verified through a series of experiments. It showed that the 6-DOF HPM achieves good compliant behavior by applying the proposed compliant motion control techniques. These schemes could also be extended to other applications where the compliant motion of the 6-DOF HPM is required.INDEX TERMS Compliant motion control, force control, interaction control, hydraulic parallel mechanism, hydraulic control system.

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Section: B System Features and Control Schemementioning

confidence: 99%

The Applications of Compliant Motion Control Technique on 6-DOF Hydraulic Parallel Mechanism

Zheng

Gao²,

Niu

et al. 2019

IEEE Access

Self Cite

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“…Only a limited number of studies focusing on the modeling and simulation of complete servo-hydraulic testing systems can be found in the literature. 4,6,8,11,18,[20][21][22][23][24][25][26][27][28][29] Dyke et al developed a linear model for a servovalve-actuator system attached to a linear shear-building type structure for investigating the role of control-structure interaction. Their analytical model includes a displacement controller and force feedback loop.…”

Section: Introductionmentioning

confidence: 99%

Comprehensive mechanics‐based virtual model of NHERI@UCSD shake table—Uniaxial configuration and bare table condition

Özçelik

Conte

Luco

2021

Earthq Engng Struct Dyn

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A mechanics-based virtual model of the NHERI@UCSD large high-performance outdoor shake table (LHPOST) in its uniaxial configuration and under bare table condition is presented. The virtual model includes: (i) a reprogrammed version (i.e., virtual replica) of the actual controller, (ii) a servovalve model including servovalve spool dynamics and two independent servovalve flow nonlinearities for each of the four servovalves of the system, (iii) an actuator model for each of the two single-ended actuators, (iv) two accumulators modeling the average supply pressure drop at the entrance of the servovalves, and (v) a one-degree-of-freedom mechanical subsystem model. Based on forced vibration test results for the foundation block, it was found that the soil-foundation compliance effects do not need to be included in the virtual model of the LHPOST. The virtual model presented is able to predict accurately the actual shake table platen response under narrow and broadband inputs with the controller gains set to the same values as on the actual shake table. Moreover, the fourth stage spool displacements and actuator driving force from actual tests are reproduced accurately by the virtual model. The mechanics-based virtual model presented in this article can be coupled with FE models of specimens to be tested on the LHPOST and can be used to improve the signal reproduction fidelity of the LHPOST and to develop more advanced model-based shake table controllers.

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“…The hydraulic 6-DOF parallel mechanism is widely used in fields of flight training and motion simulation [12][13][14][15][16]. The upper limit of its dynamic characteristics is mainly determined by its natural frequencies of x and y degrees of freedom which are basically the same due to the symmetry of the mechanism and are the smallest in value among the total six rigid modes [17].…”

Section: Introductionmentioning

confidence: 99%

Rigid-Flexible Modal Analysis of the Hydraulic 6-DOF Parallel Mechanism

Zhang

Jiang

2021

Energies

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In view of the problems encountered in previous hydraulic 6-DOF parallel mechanism projects, flexible modes appear that the actual natural frequencies of x and y degrees of freedom of the parallel mechanism are lower than those obtained through calculation. The phenomenon above not only decreases the dynamic response characteristics of the mechanism, but also leads to doubts about the actual performance of the mechanism. The real reason for the phenomenon above is solved in this paper. First the flexible structure of the hydraulic cylinder is analyzed and simplified, and then the dynamic model of the rigid-flexible 6-DOF parallel mechanism is established with the extended Hamilton’s principle. Finally the rigid-flexible modes are calculated with the dynamic model obtained, further analysis and verification with a simulation model and an experimental platform are also conducted. Results show that the phenomenon of the flexible modes is mainly caused by the O-rings of the step-seals of the guide sleeve and those with less elasticity should be adopted to keep the dynamic characteristics of the parallel mechanism.

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Modeling and Control of the CSCEC Multi-Function Testing System

Cited by 5 publications

References 19 publications

The Applications of Compliant Motion Control Technique on 6-DOF Hydraulic Parallel Mechanism

The Applications of Compliant Motion Control Technique on 6-DOF Hydraulic Parallel Mechanism

Comprehensive mechanics‐based virtual model of NHERI@UCSD shake table—Uniaxial configuration and bare table condition

Rigid-Flexible Modal Analysis of the Hydraulic 6-DOF Parallel Mechanism

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