基于内模原理的Stewart平台干扰抑制控制设计

Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (7): 1689-1693.

基于内模原理的Stewart平台干扰抑制控制设计

王晓晨, 姚郁, 傅绍文

哈尔滨工业大学控制与仿真中心, 黑龙江, 哈尔滨, 150080

收稿日期:2008-03-17 修回日期:2008-05-15 出版日期:2009-07-20 发布日期:2010-01-03
作者简介:王晓晨(1980- ),男,博士研究生,主要研究方向为并联机器人鲁棒控制.E-mail:xcwang@163.com
基金资助:
国家自然科学基金资助课题(60736022)

Control design of disturbance rejection for a Stewart platform based on the internal model principle

WANG Xiao-chen, YAO Yu, FU Shao-wen

Control and Simulation Center, Harbin Inst. of Technology, Harbin 150080, China

Received:2008-03-17 Revised:2008-05-15 Online:2009-07-20 Published:2010-01-03

摘要/Abstract

摘要： 针对应用于某型飞行模拟器的Stewart平台,首先利用Newton-Euler逆向力公式对平台动力学方程中形式复杂的连杆动态特性进行补偿,得到形式简单的误差动态系统。然后,为抑制其受到的未知谐波干扰,设计带有自适应内模的任务空间轨迹跟踪控制器,使闭环系统能够抑制未知的谐波扰动,同时能够渐近跟踪期望轨迹。仿真结果验证了该方法的有效性。

Abstract: An adaptive control algorithm is proposed for Stewart platform which is usually used to as a flight simulator.Firstly,the coupling force caused by the dynamics of the legs is compensated using the Newton-Euler inverse dynamic formula,and the simple error dynamic is obtained.Then,in order to reject the external unknown disturbance,a task space controller with adaptive internal model is constructed,which can reject a class of harmonic disturbance with unknown frequency and asymptotically track the desired trajectory.The simulation results show the effectiveness of the proposed method.

中图分类号:

TP242.3

王晓晨, 姚郁, 傅绍文. 基于内模原理的Stewart平台干扰抑制控制设计[J]. Journal of Systems Engineering and Electronics, 2009, 31(7): 1689-1693.

WANG Xiao-chen, YAO Yu, FU Shao-wen. Control design of disturbance rejection for a Stewart platform based on the internal model principle[J]. Journal of Systems Engineering and Electronics, 2009, 31(7): 1689-1693.

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