柔性支撑Stewart平台动力学建模与轨迹跟踪控制

Abstract

Abstract: To achieve the high-precision trajectory following of the secondary stabilizing platform of FAST(five hundred meter aperture spherical radio telescope),the integrated dynamical model of the Stewart platform including the electrical cylinder is established,the global feedback linearization of the dynamical model is implemented based on the control law partitioning approach.To overcome the disadvantages of the external disturbance on the base and the unmodeled flexibility of the mechanism,a PID controller with base acceleration feedforward is designed in the operational space of the Stewart platform.A modern mechatronic simulation system is constructed,and the numerical simulation of the dynamic and trajectory following control of the flexible supporting Stewart platform with presence of the base disturbance is carried out.The result shows that the presented control scheme has the advantage of high accuracy,stable dynamics and strong robustness.

CLC Number:

TP242

DUAN Xue-chao, QIU Yuan-ying, DUAN Bao-yan. Dynamical modeling and trajectory following control of the flexible supporting Stewart platform[J]. Journal of Systems Engineering and Electronics, 2009, 31(4): 895-900.

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Dynamical modeling and trajectory following control of the flexible supporting Stewart platform

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