【作者】 王立玲； 王洪瑞； 肖金壮； 刘秀玲； 薛瑞静；

【Author】 WANG Liling,WANG Hongrui,XIAO Jinzhuang,LIU Xiuling,XUE Ruijing (College of Electronic and Information Engineering,Hebei University,Baoding 071002,China)

【机构】 河北大学电子信息工程学院；

【摘要】 研制一种新型的并串联3-DOF稳定平台。该稳定平台有3个方向的转动自由度,其中二自由度球面并联机构和串联在其上的旋转工作台构成。根据拉格朗日法详细推导出3-DOF稳定平台的动力学模型。由于外界的干扰和摩擦无法建立精确的数学模型,根据模型设计控制器的系统跟踪精度会受到很大影响。提出采用逆动力学自适应控制器应用到3-DOF稳定平台系统中。实验结果表明:对于3-DOF稳定平台,采用此控制策略在跟踪过程中能够克服外界扰动。更多还原

【Abstract】 The dynamics model of the 3-DOF stabilized platform was established by Lagrange method.The stabilized platform consists of a 2-DOF(degree of freedom) spherical parallel mechanism and a rotational degree connecting in series to the platform.Due to fi’iction and disturbances from the outside environment,the tracking accuracy of a 3-DOF stabilized platform may severely degrade.An inverse dynamics adaptive controller for the 3-DOF stabilized platform system was presented.The experimental results illustrate that the proposed controllers are capable enough to overcome the disturbances on the tracking performance.更多还原