【摘要】 为实现Stewart平台的高精度运动控制,设计了基于运动学模型的运动控制系统。在工作空间中使用梯形速度曲线进行轨迹规划,通过位置反解得到关节空间中各支腿的规划轨迹,设计位置—速度双环控制器控制支腿跟踪各自轨迹。为抑制外部扰动,提高鲁棒性,使用基于模型辅助线性扩张状态观测器的自抗扰控制器作为速度环控制器。为在保证轨迹跟踪精度的同时,加快系统镇定速度,使用分段积分重置PI控制器作为位置环控制器。将所设计的控制器应用到实际控制系统中,并进行了运动控制实验。实验表明:在所设计控制系统的控制下,平台运行平稳,并能够较快稳定到目标位姿。更多还原

【Abstract】 In order to achieve high precision motion control of Stewart platform,a motion control system based on kinematics model is designed. In the working space,the trapezoid velocity curve is used for trajectory planning,and the planning trajectory of each leg in the joint space is obtained through the position inverse solution,and the position-velocity controller is designed to control the track of the leg tracking. In order to suppress external disturbances and improve robustness,active disturbance rejection controller( ADRC) based on model-aided linear extended state observer( MLESO) is used as speed loop controller. In order to ensure the precision of trajectory tracking,speed up the stabilization of the system,and use the piecewise integral reset PI controller as the position loop controller. The controller is applied to the actual control system and motion control experiments are carried out. The experiment shows that under the control of the designed control system,the platform runs smoothly and can quickly stabilize to the target pose.更多还原