摘要
电液驱动Stewart平台具有高度非线性特性,且各个通道之间存在严重的负载交联耦合,影响了仿真模拟器运动的平滑性和逼真度。以往这种系统的控制器大都是以驱动分支作为被控对象进行设计的,忽略了各个通道之间负载交联耦合的影响,导致系统控制精度的降低,严重时甚至可能造成系统的不稳定。针对上述问题,提出以动平台为被控对象,根据动平台动力学方程设计一种基于加速度鲁棒观测器的非线性自适应控制器的方法,通过Lyapunov方法证明该控制算法具有渐进稳定性。试验表明提出的控制算法在提高平台控制精度和抑制通道间负载交联耦合方面的效果较理想。
Because of high nonlinear feature of the platform driven by electro-hydraulic actuators and the serious load coupling among actuators, the fidelity and smoothness of simulator are impacted. The driven branch of the platform was as control object in the platform controller design in the past and neglecting the influence caused by load-coupling among actuators, which resulted in declining of the platform control precision, even unsteadiness. For the above reasons, taking the platform as a control object in the controller design, a nonlinear adaptive control algorithm based on acceleration robust observer for the Stewart platform is presented, and asymptotic stableness of algorithm is demonstrated by using Lyapunov method. Experiment results show that the controller proposed here has better trajectory tracking performance and higher capability of dealing with load coupling among actuators.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2007年第3期223-227,234,共6页
Journal of Mechanical Engineering
作者简介
徐东光，男，1967年出生，博士研究生。主要研究方向为液压驱动并联机器人动力学及其控制策略。发表论文5篇。E—mail：hit_xdg@163.com
