Research Of Single-DOF Force Control Based On 6-DOF Parallel Electro-hydraulic Servo Mechanism

6-DOF parallel mechanism is a new type of space motion mechanism with powerful load ability, good structural stiffness, quick response and high control precision, which has wide applications in the aviation, ship or vehicle motion simulator, space docking, drive training, etc. Now, the studies on 6-DOF parallel mechanism mainly focus on pose control. However, there are few investigations at present on the force control of 6-DOF parallel electro-hydraulic servo mechanisms, particularly on generalized loading force control. In this dissertation, a rounded analysis and a profound study have been carried out about the single-DOF force loading control based on the 6-DOF parallel electro-hydraulic servo mechanism, which is doubtless a new attempt in domestic even oversea region to target at the 6-DOF parallel electro-hydraulic servo mechanism's generalized output force control, but not its pose control. First, the principle and the structure of the force loading system are introduced. Then the research of single-DOF force control method and its control strategy are analyzed systematically. And the force loading experimental system has been developed by our laboratory for the single force control experiment, by which the experimental research has been studied.Here are the main points of the dissertation:In Chapter 1, the domestic and oversea development and the application foreground of the 6-DOF parallel mechanism are summarized at first. Then, the research significance of this topic is expounded and the works need to do are also introduced in this part.In Chapter 2, the principle and the structure of the force loading system are carefully analyzed firstly. Thus, the academic study of the mechanical model based on the 6-DOF parallel mechanism is carried out. The formula of the generalized output force about the 6-DOF parallel mechanism is deduced and the influencing factors of the generalized output force are also analyzed, so that the character of the single-DOF force loading is studied.In Chapter 3, new control methods of the single-DOF force control system are put forward at first and the models of the single-DOF force control system based on the 6-DOF parallel electro-hydraulic mechanism are built up. The mathematics model of the single-cylinder force control system is set up and also the transfer function and control block diagram about it are put forward at the end of this chapter.In Chapter 4, the simulation models of the single cylinder force control and the single-DOF force control system based on the 6-DOF parallel electro-hydraulic mechanism are established. The simulation study of the single cylinder output force control performance is firstly developed. Then, combined with the system models of the parallel mechanism, a simulation analysis is...