基于内模原理的Stewart平台干扰抑制控制设计  

Control design of disturbance rejection for a Stewart platform based on the internal model principle

作　　者：王晓晨[1] 姚郁[1] 傅绍文[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：《系统工程与电子技术》2009年第7期1689-1693,共5页Systems Engineering and Electronics

基　　金：国家自然科学基金资助课题(60736022)

摘　　要：针对应用于某型飞行模拟器的Stewart平台,首先利用Newton-Euler逆向力公式对平台动力学方程中形式复杂的连杆动态特性进行补偿,得到形式简单的误差动态系统。然后,为抑制其受到的未知谐波干扰,设计带有自适应内模的任务空间轨迹跟踪控制器,使闭环系统能够抑制未知的谐波扰动,同时能够渐近跟踪期望轨迹。仿真结果验证了该方法的有效性。An adaptive control algorithm is proposed for Stewart platform which is usually used to as a flight simulator. Firstly, the coupling force caused by the dynamics of the legs is compensated using the Newton-Euler inverse dynamic formula, and the simple error dynamic is obtained. Then, in order to reject the external unknown disturbance, a task space controller with adaptive internal model is constructed, which can reject a class of harmonic disturbance with unknown frequency and asymptotically track the desired trajectory. The simulation results show the effectiveness of the proposed method.

关 键 词：STEWART平台 并联机构 内模原理 干扰抑制 任务空间控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]