空间隔振器协调控制策略研究  

The Coordinated Control of Space Based Vibration Isolator

作　　者：张永亮[1] 郭百巍[1] 孟秀云[1] 

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《北京理工大学学报》2015年第6期597-600,共4页Transactions of Beijing Institute of Technology

基　　金：北京理工大学基础研究基金资助项目(20130142015)

摘　　要：针对非正交Stewart隔振平台各通道之间存在强烈耦合特性问题,提出了非正交Stewart隔振平台的协调控制策略.首先建立了六自由度非正交Stewart隔振平台模型,根据简化的模型设计了协调控制算法;并针对控制器所需的输入不易获得的问题,设计出状态观测器以获得控制器所需要的输入.仿真结果表明,该算法显著提高了非正交Stewart的隔振性能.A coordinated control algorithm was put forward for the strong coupling among different legs in the non-orthogonal Stewart platform. A model of six freedom non-orthogonal Stewart platform for active vibration isolation was built firstly, and then the coordinated control algorithm was designed according to the simplified model. A state observer was designed to get the state variables which were essential for the controller. The simulation results show that the system＇s performance on the vibration isolation is significantly improved.

关 键 词：非正交Stewart平台 振动隔离 协调控制 状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]