基于改进迭代学习的并联6-DOF运动平台控制策略研究  

The Study of Parallel Six Degree of Freedom Motion Platform Control Strategy Based on Improved Iterative Learning

作　　者：侯士豪[1] 王勇亮[1] 武光华[2] 段永胜[1] 

机构地区：[1]空军航空大学仿真技术研究所,长春130022 [2]解放军理工大学工程兵学院,南京211101

出　　处：《组合机床与自动化加工技术》2012年第4期32-35,39,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：为了改善并联6-DOF运动平台的轨迹跟踪效果提出了一种新颖的控制算法。该控制方法结合了非奇异Terminal滑模控制(NTMSMC)和迭代学习控制(ILC),非奇异Terminal滑模控制器可以在有限的时间到达和消除控制器奇异,将其作为第一控制器来处理模型参数不确定性、未知的非线性和外部干扰;在到达滑模面之后,用PD型迭代学习控制器作为第二控制器来消除周期性轨迹跟踪误差。Simulink仿真结果表明,这种组合控制器与其它控制器(如PID控制、滑模控制、迭代学习控制)相比有更高的轨迹跟踪精度和较强的鲁棒性。A novel controller is proposed to improve the trajectory tracking performance of 6-DOF motion platform of flight simulator The proposed control scheme combines non-singularity terminal sliding mode control scheme（NTSMC） with iterative learning control（ILC）.Specifically,the NTSMC which can arrive in finite time and prevent controller from singular is used as the primary controller to handle the effect of parametric uncertainties,unknown nonlinearities and external disturbances.A PD type iterative learning controller is employed as the secondary controller to eliminate the periodic tracking errors.Simulink simulation results illustrate that the proposed combined controller can achieve better tracking performance and robustness compared with other control algorithms such as PID control,sliding mode control,and the iterative learning control.

关 键 词：六自由度运动平台 动力学控制 非奇异Terminal滑模控制 迭代学习控制 

分 类 号：TH162[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]