基于LPV方法的Stewart平台关节空间分散控制  

LPV-based Stewart Platform Decentralized Control in Joint Workspace

作　　者：韩蕾[1] 傅绍文[2] 

机构地区：[1]中国民航大学航空自动化学院,天津300300 [2]哈尔滨工业大学控制与仿真中心,黑龙江哈尔滨150080

出　　处：《信息与控制》2008年第3期311-315,321,共6页Information and Control

基　　金：中国民航科学基金(MHRD0703)

摘　　要：为了提高Stewart平台关节空间分散控制系统的性能,提出一种基于线性变参数(Linear Parameter Varying,LPV)方法的控制策略.首先建立了平台关节空间动力学模型;通过分析平台惯性矩阵,指出单支路子系统等效负载变化以及子系统间的耦合干扰是分散控制需要处理的主要问题.然后将平台惯性矩阵分解为一个对角阵与一个耦合阵之和,子系统间耦合作用视为对单支路的干扰,从而得到每个子系统的动力学方程.最后针对子系统等效负载随着上平台运动而在较大范围内变化的特点,引入LPV控制方法,使控制器参数能够适应子系统负载变化,减少了保守性.仿真结果表明了所提方法的有效性.In order to improve the performance of Stewart platform decentralized control system in joint workspace, a control strategy based on linear parameter varying （LPV） method is proposed. Firstly, the dynamic model in joint workspace is formulated for the manipulator. Based on the analysis of manipulator inertia matrix, it is pointed out that each subsystem equivalent load variation and the coupling interference between the subsystems are the main problems for decentralized cqntrol. Secondly, the inertia matrix is decomposed into the sum of a diagonal matrix and a coupled matrix. Coupling between the subsystems is regarded as disturbance to each strut, and the dynamic model is obtained for each subsystem. Finally, according to the characteristics that the subsystem equivalent load changes greatly with the moving of the upper platform, the linear parameter varying （LPV） control method is introduced. Consequently, the.controller parameters can suit the subsystem load variation, and the conservativeness is decreased. Simulation results are given to verify the validity of the proposed approach.

关 键 词：STEWART平台 分散控制 关节空间 线性变参数(LPV)控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]