基于迭代学习的6-DOF平台控制与仿真研究  

Study on 6-DOF Platform Control and Simulation Based on Iterative Learning Control

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,吉林长春130022 [2]解放军理工大学工程兵学院,江苏南京210007

出　　处：《机床与液压》2012年第11期128-131,163,共5页Machine Tool & Hydraulics

摘　　要：在建立某型模拟器平台动力学模型的基础上,提出一种迭代学习控制(ILC)算法。通过多体系统动力学分析软件ADAMS建立虚拟样机模型,运用Matlab/Simulink建立控制策略模型,利用接口文件将两者结合起来进行机械系统与控制系统的联合仿真。结果表明:联合仿真具有较好的直观性和分析的快速性,验证了迭代学习控制策略的优越性,对控制器的设计与验证具有重要的借鉴意义。A type of iterative learning control （ILC） algorithm was introduced based on analyzing the kinematics and dynamics characteristics of the motion platform of a 6-DOF flight simulator. Multi-body systematic dynamic analysis software ADAMS was used to create a virtual model. Matlab/Simulink software was employed to establish the control strategy of the virtual model. The interface documents were used to combine with the two above for co-simulation of the mechanical and control system. The results show that the cosimulation is intuitive and the analysis is fast, the ILC control strategy is super and has important reference value for controller＇s design and verification.

关 键 词：六自由度平台 迭代学习控制算法 动力学模型 控制器 联合仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]