Stewart液压平台轨迹跟踪自适应滑模控制  

Adaptive sliding-mode trajectory-tracking control of hydraulic Stewart platform

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,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2009年第6期1124-1128,共5页Journal of Zhejiang University：Engineering Science

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

摘　　要：Stewart液压平台是一个多输入多输出(MIMO)非线性系统,其耦合运动过程中存在参数不确定性与干扰影响其轨迹跟踪精度,针对此问题,考虑了系统参数的不确定性,利用Backstepping方法结合滑模控制与自适应控制的优点,推导得到系统的多级自适应滑模控制器,以增强系统运行过程中对运动与力的跟踪性能.利用AMESim与MATLAB的联合仿真方法进行验证,与传统基于各缸位置偏差的比例-积分-微分(PID)控制器相比,结果表明,该方法在系统参数不确定所引起的干扰下,能更有效地降低各缸的位置和力的跟踪误差,从而提高了运动平台末端的动态跟踪精度.As Stewart platform is a multi-input multi-output（MIMO）nonlinear system, the trajectory-tracking precision of the platform is usually influenced by unknown parameters of the system and coupling disturb force among the linear hydraulic actuators. An adaptive sliding mode controller with the unknown parameters of the system was proposed to improve the tracking accuracy of both position and force by backstepping design methodology during the movement. Simulation was performed with a hydraulic 6-dof parallel platform by use of AMESim and MATLAB tool. The results demonstrate the effectiveness of the proposed approach in performance improvement of the system compared to the PID controller.

关 键 词：Stewart液压平台 轨迹跟踪 自适应控制 滑模控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]