【摘要】 一种船用并联平台,具有三个支撑点,液压伺服驱动双缸运动,可以完成横摇和纵摇两个运动自由度.介绍了基于铰点坐标的单通道控制与基于自由度的控制策略,建立了Matlab/simulink仿真模型,对自由度控制效果进行了验证,仿真结果表明基于自由度的控制策略可以保证平台运动过程中两套驱动系统协调运动,有效减少侧倾自由度的耦合输出.更多还原

【Abstract】 One kind of marine 2-DOF platform based on three supporting points and two electro-hydraulic servo actuators drives. The platform can realize pitching and the rolling motion. The basic Joint-space single channel control and control strategy based on DOF were introduced. Matlab/simulink simulations show that the control system based on DOF can achieve better performance than that of traditional Joint-space single channel control in terms of adaptability and steady-state accuracy.更多还原