六自由度电动平台系统模糊-前馈控制及仿真研究  

Research on Fuzzy-Feedforward Control and Simulation of Electric Platform System with Six Degrees of Freedom

作　　者：赵玉龙[1] 梁建民[1] 吴健楠[1] 孙方义[1] 杨佐龙[1] 

机构地区：[1]空军航空大学军事仿真技术研究所,长春130022

出　　处：《四川兵工学报》2013年第3期92-95,共4页Journal of Sichuan Ordnance

基　　金：空军科研基金项目(KJZ06139)

摘　　要：针对以交流伺服电机驱动的电动六自由度运动平台系统的强耦合、非线性、强干扰特性,建立了电动平台单通道模型,并基于此设计了模糊-前馈控制器,为了提高系统的动态响应特性和抗干扰性设计了模糊自适应PID控制器,为进一步保证系统进入稳态后有较高的位置跟踪精度,接着引入了前馈控制,该前馈设控制设计为迭代控制器;仿真结果表明:将该设计方法应用于电动平台无论是系统的动态响应、鲁棒性、稳态精度较常规控制都有了明显的提升,满足六自由度电动平台系统的位置跟踪指标要求。In response to the strongly coupled, nonlinear, strong interference characteristics of 6 DOF motion platform system driven by AC servo motor, the electric platform single-channel model is established, and fuzzy - feedforward controller is designed based on this. Fuzzy adaptive PID controller is designed to improve the dynamic response characteristics of the system and the anti-interference. To further ensure the system enters a steady-state position tracking accuracy, followed by the introduction of the feedforward controller, and it is designed as iterations controller. Simulation results show that the design method signifi-cantly improved the dynamic response, robustness, and steady-state accuracy of electric platform compared with conventional control, and meet the indicators of 6 DOF electric platform location tracking.

关 键 词：电动平台 模糊自适应 前馈迭代 系统仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]