Model-based 6-Dof Force Loading Control Method Study Of Spindle Coupled Road Simulator

In order to meet the needs of the auto industry development at home, to catch up with the most advanced world levels in the study of spindle coupled road simulation science, based on the result of being researched project "spindle coupled road simulation test simulator" by Harbin Institute of Technology, this paper studied the 6-DOF force loading control strategy of the spindle coupled road simulator in the aspects of theory and simulation with the model-based method.In this paper, considered the structure characteristic of the simulator, the analysis and modeling task of the kinematics and dynamics were done,which is necessary for establishing model-based control system.Then an equivalent semi-automobile load model, contraposing the special loading operating regime –car body fixed with 12-channel,and a virtual prototype of the whole loading system was established. Based the load characteristic analysis, the hydraulic systems in each channel were designed. Combining the virtual prototype(ADAMS), preliminary co-simulation of single-channel hydraulic driving force control system was completed.All the task was done as a foundation for completing the most important part of study—model-based 6-dof force loading control study.The basic control strategy of this paper is adopting dynamics model, specifically speaking, it simplified the complicated control problem by converting the MIMO system into SISO system by dynamics model, which as well raised higher demand of model’s accuracy. In this paper, the control strategy based on the basic idea of the spindle coupled road simulation test simulator is studied, changed the generalized force loading signal into the driving force signal using the dynamic model.Using the co-simulation model, both of the two control strategies,controlling the driving force of each channel and double closed-loop control of the generalized load force and the driving force loop,are uesd to finish the simulation study of 6-DOF force loading system. According to the simulation results, the control effect and system characteristics of the two control strategies are analyzed, the advantages and disadvantages of the two control strategies are compared.And then compared control performance of the two kinds of control strategy. The research shows that the model based control strategy has good control effect in a certain bandwidth. Good reproducibility of sinusoidal signal of 6-DOF force loading in the low frequency band can be achieved. This paper theoretically demonstrates the model-based control strategy for the 6-DOF force loading control system of spindle coupled road test simulator is feasible and effective.