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。
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.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2009年第7期1689-1693,共5页
Systems Engineering and Electronics
基金
国家自然科学基金资助课题(60736022)
关键词
STEWART平台
并联机构
内模原理
干扰抑制
任务空间控制
Stewart platform
parallel manipulator
internal model principle
disturbance rejection
task space control
