【摘要】 在对液压 Stewart 平台的系统特性进行详细分析的基础上,探讨了适合此类系统的控制特点和适用的控制策略,提出了一种基于前馈补偿的专家 PID 控制策略,并将该控制策略作为智能控制器应用于单通道液压 Stewart 平台伺服系统。仿真结果表明,这种控制器不依赖于系统模型,具有良好的自适应性,可在较大程度上补偿系统的非对称性,对非线性耦合力扰动具有较好的鲁棒性,控制结果显示系统具有良好的静动态性能。更多还原

【Abstract】 Through the analysis of the Stewart platform’s system characteristics,a expert PID control strategy with feedforward compensation is put forward.The experimental results show that the controller is independent upon system model,and the controller has self-adaptability,the asymmetrical characteristics of the system can greatly compensa- ted.The controller has robustness to large load disturbance with the satisfactory static and dynamic performance.更多还原