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以两轴角振动台为研究对象,设计角振动台加速度伺服控制器。依据各液压缸间的几何位置关系求取自由度合成及分解矩阵。采用三状态顺馈控制器提高系统的加速度响应频宽,采用三状态反馈控制器改善系统的稳定性,提高系统的阻尼比,采用输入滤波器实现角振动台的加速度控制。利用Matlab/XPC工具箱开发了两轴角振动台实时控制系统。最后,通过实验验证了所设计加速度伺服控制器的有效性。
Taking the two-axis vibration table as the research object, the angular vibration table acceleration servo controller is designed. According to the geometric relationship between the hydraulic cylinder to obtain the degree of freedom synthesis and decomposition matrix. The three-state feedback controller is used to improve the response bandwidth of the system. The three-state feedback controller is used to improve the stability of the system and improve the damping ratio of the system. The input filter is used to control the acceleration of the angular vibration stage. Using Matlab / XPC toolbox, real-time control system of two-axis vibrating table was developed. Finally, the effectiveness of the designed acceleration servo controller is verified through experiments.