节点文献
基于动力学干扰力前馈的液压Stewart平台μ综合控制
μ synthesis control of hydraulic Stewart platform based on dynamics disturbance feed forward
【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。
【Abstract】 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 disturbance force was compensated by a forward feed controller according to the strueture invariance principle.A μ synthesis robust controller was used in the closed-loop control to improve the robustness of the system and to suppess the unmodelled disturbance force.The experimental results validated the effectiveness of the suggested control scheme.
【Key words】 turn and control of fluid; hydraulic Stewart platform; inverse dynamics model; dynamics disturbance force feed forward; μ synthesis;
- 【文献出处】 吉林大学学报(工学版) ,Journal of Jilin University(Engineering and Technology Edition) , 编辑部邮箱 ,2009年03期
- 【分类号】TH137
- 【被引频次】5
- 【下载频次】271