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液压Stewart平台在运动模拟器中的应用日益广泛,其换向平滑是保证模拟器逼真度的重要因素。采用动态Lugre摩擦力模型和Stribeck负斜率效应研究了Stewart平台分支液压缸的最大静摩擦力和动摩擦力;推导了Stewart平台液压系统在换向时因运动惯性产生的增压压力和因结构非对称导致的压力跃变;从控制方法和结构设计等方面提出了柔性换向策略,并进行了实验验证。
The application of hydraulic Stewart platform in motion simulator is more and more widely. The commutation smoothing is an important factor to ensure the simulator’s fidelity. The maximum static friction force and dynamic friction force of the hydraulic cylinder of the Stewart platform are studied by the dynamic Lugre friction model and the Stribeck negative slope effect. The supercharging pressure of the hydraulic system of the Stewart platform due to the inertia of inertia and the asymmetry of the structure are derived The pressure jump from the control methods and structural design and other aspects of the proposed flexible commutation strategy and experimental verification.