【摘要】 针对应用于某型飞行模拟器的Stewart平台,首先利用Newton-Euler逆向力公式对平台动力学方程中形式复杂的连杆动态特性进行补偿,得到形式简单的误差动态系统。然后,为抑制其受到的未知谐波干扰,设计带有自适应内模的任务空间轨迹跟踪控制器,使闭环系统能够抑制未知的谐波扰动,同时能够渐近跟踪期望轨迹。仿真结果验证了该方法的有效性。更多还原

【Abstract】 An adaptive control algorithm is proposed for Stewart platform which is usually used to as a flight simulator.Firstly,the coupling force caused by the dynamics of the legs is compensated using the Newton-Euler inverse dynamic formula,and the simple error dynamic is obtained.Then,in order to reject the external unknown disturbance,a task space controller with adaptive internal model is constructed,which can reject a class of harmonic disturbance with unknown frequency and asymptotically track the desired trajectory.The simulation results show the effectiveness of the proposed method.更多还原