基于逆动力学模型的Stewart平台干扰力补偿  

Interference Force Compensation of Stewart Platform Based on Inverse Dynamic Model

作　　者：李强[1] 王宣银[1] 程佳[1] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,杭州310027

出　　处：《机械工程学报》2009年第1期14-19,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50375139);新世纪优秀人才支持计划(NCET-04-0545)资助项目。

摘　　要：Stewart型电液伺服平台操作空间与关节空间之间的雅可比矩阵随位姿而时变,使得各液压缸的轨迹动态同步难以保证,且各缸末端铰接于运动平台,这导致各通道存在着动态耦合的干扰力。针对此问题,在推导系统动力学模型的基础上,通过对关节干扰力的由来和作用进行分析,以系统理想轨迹逆动力学为参考模型,通过运用关节实际运动学输出的正解和系统动力学逆解求得实际关节驱动力,从而得出动态偏差力。在关节位置闭环控制基础上,利用动态偏差力,设计自适应模糊干扰力补偿规律,实现力/位置混合控制,使各支链快速趋于同步,在减小了平台抖动的同时也降低了调整时间,有效提高了系统的整体跟踪性能。The actuating legs of Stewart platform are usually moving with variable velocity because of the ti me-varying Jacobi matrix between operating space and joint space. Due to the variable velocity and the inherent differences in the system there is motion non-synchronization and coupling disturbance force among the linear hydraulic actuators. They influence the smooth running of the platform. Through analyzing the source and effect of the disturbance force of joints and by taking the inverse dynamics of ideal track of system as the reference model, an adaptive fuzzy compensator is designed to realize force/position hybrid control to keep the actuating legs in synchronism and reduce the platform jitter as well as adjustment time, thereby effectively improving the whole tracking performance of the system.

关 键 词：STEWART平台 动力学 自适应模糊 干扰力补偿 力/位置控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]