柔索悬挂Stewart平台振动控制及稳定性研究  

Control Simulation and Sability Study of Cable-suspended Stewart Platform

作　　者：高彦锟[1] 程源[2] 任革学[3] 黄德修[1] 

机构地区：[1]华中科技大学,武汉430074 [2]中山大学,广州510275 [3]清华大学,北京100084

出　　处：《中国机械工程》2008年第16期1929-1934,共6页China Mechanical Engineering

摘　　要：在柔索悬挂条件下,利用多体动力学与控制理论以及特征系统实现算法(eigensystem reali-zation algorithm,ERA),研究了Stewart平台的基平台受到扰动时其末端执行器的控制稳定性问题,提出了相应的控制策略。用自行研制的多体动力学与控制仿真软件分析了不同弹性系数在柔索悬挂条件下Stewart平台的动态特性,并用ERA对系统的模态进行了比较,获得了动力学上可控的悬挂支撑方案。以数值仿真分析结果为基础设计了柔索悬挂Stewart平台的试验方案,对实际控制效果进行了研究,验证了数值仿真结果的正确性。This paper studied the control stability of end manipulators under the suspended--cable Stewart platform in the state of disturbance by using the multi--body system dynamics and control theory and eigensystem realization algorithm （ERA）. The corresponding strategies had been suggested. The vibration modes of Stewart platform were analyzed under different suspended--cables by u sing the software of multibody system dynamics and control simulation. ERA was used to analyse the modes of the vibration of the system, thus the controlled suspension project was achieved. Based on numerical results, the experimental project for Stewart platform with the cable suspension was designed. The actual control effects were studied and the validity of numerical simulation was testified through experiments.

关 键 词：STEWART平台 柔索 多体动力学 特征系统实现算法 振动控制 

分 类 号：O39[理学—工程力学]