Wang Shengye, Wang Haitao, Xiong Wei, Guan Guangfeng
Naval Architecture and Ocean Engineering College, Dalian Maritime University, DaLian 116026, Liaoning, China.
Comput Intell Neurosci. 2022 Apr 25;2022:7173421. doi: 10.1155/2022/7173421. eCollection 2022.
The vibration compensation control of a hovering helicopter rescue simulator mounted on a crane beam is studied in this research. A Stewart platform is used as the motion generator of the helicopter simulation cabin and the vibration compensation device of the beam, simultaneously. This study describes how the dynamic model of the Stewart platform with consideration of the beam vibration is established. To determine the interference of the Stewart platform motion control in the special application of a large component flexible base requiring large-scale movement, a hybrid vibration controller composed of a feed-forward compensation module and a PD (proportional-derivative) feedback control module is designed. The experimental results show that this method can effectively compensate for the beam vibration and improve the accuracy of the motion reproduction of a helicopter simulation cabin.
本研究对安装在起重机梁上的悬停直升机救援模拟器的振动补偿控制进行了研究。采用斯图尔特平台作为直升机模拟舱的运动发生器和梁的振动补偿装置。本研究描述了如何建立考虑梁振动的斯图尔特平台动力学模型。为了确定斯图尔特平台运动控制在需要大规模运动的大型部件柔性基座特殊应用中的干扰，设计了一种由前馈补偿模块和PD（比例-微分）反馈控制模块组成的混合振动控制器。实验结果表明，该方法能够有效补偿梁的振动，提高直升机模拟舱运动再现的精度。
