A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Motion control for overconstrained parallel servohydraulic mechanisms
A practical position control method is presented for parallel servohydraulic mechanisms in which the payload behaves as a rigid mass. The ability of this method to decouple the control axes is demonstrated. A modal control approach is used - i.e. the modes of vibration of the table are controlled individually. These modes are dependent on the inertial properties of the table with specimen and the compliance of the actuators due to oil compressibility. In some parallel servohydraulic mechanisms there are more actuators than degrees-of-freedom: i.e. they are overconstrained. It is shown how the proposed control method can be extended to such overconstrained systems. Simulation results are presented based on a validated model of an overconstrained earthquake simulation table.
Motion control for overconstrained parallel servohydraulic mechanisms
A practical position control method is presented for parallel servohydraulic mechanisms in which the payload behaves as a rigid mass. The ability of this method to decouple the control axes is demonstrated. A modal control approach is used - i.e. the modes of vibration of the table are controlled individually. These modes are dependent on the inertial properties of the table with specimen and the compliance of the actuators due to oil compressibility. In some parallel servohydraulic mechanisms there are more actuators than degrees-of-freedom: i.e. they are overconstrained. It is shown how the proposed control method can be extended to such overconstrained systems. Simulation results are presented based on a validated model of an overconstrained earthquake simulation table.
Motion control for overconstrained parallel servohydraulic mechanisms
Plummer, Andrew R. (author)
2007
13 Seiten, 10 Bilder, 10 Quellen
Conference paper
English
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