基于DSP的电动六自由度运动模拟器位置伺服控制策略  

Position Servo Control Strategy of a DSP-based Electric Six Degrees of Freedom(DOF) Motion Simulator

作　　者：吴上泉 

机构地区：[1]工业和信息化部电子第五研究所,广东广州510610

出　　处：《电气自动化》2016年第6期1-4,共4页Electrical Automation

摘　　要：针对目前电动六自由度运动模拟器的特点,对平台进行了基于位姿反解算法的铰链空间控制,并介绍了一种新型的基于DSP的多级控制结构。在电动缸闭环控制中,引入模糊前馈PID智能算法,提高实时性与动态控制精度。基于控制算法与硬件器对平台进行试验,结果表明控制策略实时性好,动态精度高。Based on an analysis of the characteristics of present electric 6-DOF motion simulators, this paper implements a hinge space control over the platform based on inverse displacement, and introduces a novel DSP-based multi-level control structure. In the closed-loop control of the electric cylinder, it introduces a fuzzy feed-forward PID intelligent algorithm to improve real-time performance and dynamic control accuracy. Results of tests made on the platform based on the control algorithm and hardware controller show that this control strategy has a good real-time performance and high dynamic accuracy.

关 键 词：六自由度运动模拟器 运动学反解 多级控制 DSP控制器 模糊前馈 

分 类 号：TM383.4[电气工程—电机]