电动Stewart仿真平台动力学建模与惯性参数辨识  

Dynamic Model and Inertia Parameters Identification of Electrical Stewart Platform Simulator

作　　者：傅绍文[1] 姚郁[1] 王晓晨[1] 

机构地区：[1]哈尔滨工业大学控制与仿真中心,黑龙江哈尔滨150080

出　　处：《系统仿真学报》2007年第9期1909-1912,1921,共5页Journal of System Simulation

摘　　要：建立了某型电动Stewart仿真平台关节空间动力学模型,通过实验辨识出了平台难于测量的惯性参数。首先给出平台的拉格朗日法和牛顿-欧拉法两种建模结果的相互验证方法,然后推导出平台关节空间内动力学模型,最后进行平台单支路闭环等速运动以及单支路开环正弦运动的实验,利用遗传算法辨识出平台的惯性参数。两种动力学建模结果的相互验证保证了平台刚体动力学模型正确性,所设计实验操作简单,能够方便地辨识出未知的参数。为电动Stewart平台建模与惯性参数辨识提供了一种新的方法。An electrical Stewart platform simulator＇s link-space dynamic model was constructed and the inertia parameters were estimated through experiments, Two rigid body dynamic models were got from Lagrange method and Newton-Euler method separately and validated each other, The whole link-space dynamic model of the electrical simulator was constructed. The inertia parameters were estimated by genetic algorithm from single strut moving experiments： constant velocity motion in closed-loop and sinusoid motion in open-loop. The validation between two rigid body dynamic models guarantees the model＇s correctness and the designed experiments are easy to estimate manipulator＇s inertia parameters off-line.

关 键 词：Stewart仿真平台 动力学建模 参数辨识 实验研究 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]