摘要
针对液压Stewart平台存在的动力学耦合强干扰力及液压系统参数不确定性严重影响轨迹跟踪精度的问题,提出了一种基于动力学干扰力前馈的综合控制方案。基于Stewart平台关节空间的逆动力学模型,建立了驱动分支的频域控制模型和动力学干扰力模型,并根据结构不变性原理将动力学干扰力前馈补偿。为提高系统的鲁棒性以及对未建模干扰力的抑制能力,在闭环控制中采用μ综合鲁棒控制器。试验结果验证了该方案的有效性。
A control acheme combining the dynamics disturbance force forward feed with μ synthesis was suggested to solve the strong disturbance force from the dynamics coupliing existing in the hydranlic stewart platform and to eliminate the influence of the hydraulic parameter uncertainties on the locus tracking precision.A frequency-domain control model of the driving leg and a dynamics disturbance force model were built based on the inverse dynamics model of the Steward platform joint-space and the dynamics distur...
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2009年第3期662-667,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
国家'985'工程项目
