【摘要】 针对非正交Stewart隔振平台各通道之间存在强烈耦合特性问题,提出了非正交Stewart隔振平台的协调控制策略.首先建立了六自由度非正交Stewart隔振平台模型,根据简化的模型设计了协调控制算法;并针对控制器所需的输入不易获得的问题,设计出状态观测器以获得控制器所需要的输入.仿真结果表明,该算法显著提高了非正交Stewart的隔振性能.更多还原

【Abstract】 A coordinated control algorithm was put forward for the strong coupling among different legs in the non-orthogonal Stewart platform.A model of six freedom non-orthogonal Stewart platform for active vibration isolation was built firstly,and then the coordinated control algorithm was designed according to the simplified model.A state observer was designed to get the state variables which were essential for the controller.The simulation results show that the system’s performance on the vibration isolation is significantly improved.更多还原