柔性支撑下的Ste wart平台速度控制  

Velocity control of Stewart platform with flexible supporting

作　　者：保宏[1] 段宝岩[1] 米建伟[1] 

机构地区：[1]西安电子科技大学机电工程学院,陕西西安710071

出　　处：《西安电子科技大学学报》2006年第4期535-538,共4页Journal of Xidian University

基　　金：国家自然科学基金重点资助项目(10433020)

摘　　要：针对大射电望远镜中舱索系统与Stewart平台存在强动力耦合特点,研究了柔性支撑下的Stewart平台位姿跟踪问题.将两系统的动力学耦合视为对Stewart平台的未知外扰,通过利用高增益状态观测器,提出了柔性支撑下Stewart平台速度控制方法.数值仿真表明该方法有效地抑制了两系统间的动力耦合影响,提高了Stewart平台的扫描精度.By considering the special characteristic of distinct dynamical couple between cabin-cable system and Stewart platform, the tracking control of the Stewart platform on the flexible supporting structure is studied. The dynamic coupling between the two comprised systems are considered as the unknown to the Stewart platform. A velocity controller is proposed for the Stewart ,platform with the flexible supporting based high gain feedback observer. Numerical simulation shows that the dynamic coupling is attenuated effectively and that traiectory tracking is improved.

关 键 词：舱索系统 STEWART平台 动力耦合 速度控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]