The invention provides a novel heavy-load redundant drive simulator and a control method thereof. The simulator comprises a base, six drive branch chains, four sliding rail stand columns, four balance branch chains, a bearing platform and a control system. The base is fixedly connected with the ground, the six driving branch chains are connected with the base through universal hinges and connected with the bearing platform in parallel through spherical hinges, each sliding rail stand column with a sliding block is fixedly connected with the ground, one end of each balance branch chain is connected with the sliding block through a universal hinge, and the other end of each balance branch chain is connected with the bearing platform in parallel through a spherical hinge. According to the control system, a redundant drive control method based on distributed force perception is adopted, the drive branch chains are controlled to carry out position control, the bearing capacity of the platform is inversely calculated, and then the balance branch chains are controlled to carry out force following control. The method has the advantages of high simulation precision, high bearing capacity and large working space, and the control algorithm is simple, easy to implement and good in control stability.

    本发明提供了一种新型重载冗余驱动模拟器及其控制方法,所述模拟器包括基座、六个驱动支链、四个滑轨立柱、四个平衡支链、承载平台和控制系统;基座与地面固定连接,六个驱动支链通过万向铰与基座连接,六个驱动支链通过球铰与承载平台并联连接,带有滑块的每个滑轨立柱与地面固定连接,每个平衡支链一端通过万向铰与滑块连接,另一端通过球铰与承载平台并联连接;所述控制系统采用基于分布式力感知的冗余驱动控制方法,控制驱动支链进行位置控制,并反算平台承载力,进而控制平衡支链进行力跟随控制。本发明具有模拟精度高、承载能力强、工作空间大的优势,且控制算法简单易于实现,控制稳定性好。


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    Title :

    Novel heavy-load redundant drive simulator and control method thereof


    Additional title:

    新型重载冗余驱动模拟器及其控制方法


    Contributors:
    HE JUN (author) / MA KAIYUAN (author) / YU ZHENCAI (author)

    Publication date :

    2025-02-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen



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