一种四自由度运动平台及其姿态控制方法  

A 4-DOF motion platform and its attitude control method

作　　者：张琨[1] 霍建霖 赵志启 张镭[1] Zhang Kun;Huo Jianlin;Zhao Zhiqi;Zhang Lei(School of Physics and Electronics,Henan University,Kaifeng 475001,China;Henan Instituteof Special Equipment Safety Inspection and Testing,Kaifeng 47500l,China)

机构地区：[1]河南大学物理与电子学院,开封475001 [2]河南省特种设备安全检测研究院,开封475001

出　　处：《电子测量技术》2022年第19期150-154,共5页Electronic Measurement Technology

基　　金：河南省高等学校青年骨干教师培养计划(2019GGJS032)资助。

摘　　要：为了减少无人机飞行控制算法调试的困难,需要一种地面试验设备以托举并限制飞行器的运动。为此提出了一种由绳索和丝杠复合驱动的四自由度运动平台,该平台垂直方向的直线运动由电机驱动丝杠提供,3个旋转方向的运动由4个电机拉动绳索驱动。为了实现该平台的位置和姿态控制,建立了该平台的动力学模型。由于平台各方向不同的动力学特性,使用模糊控制器实现的姿态补偿方法提高了系统的跟踪性能。通过仿真实验表明,该系统各方向调节时间小于0.2 s,位置跟踪误差为0,具有响应速度快、抗干扰能力强、定位精度高等优点,可以辅助完成飞行器控制系统的调试工作,具有重要的应用价值。In order to reduce the difficulty of adjusting the flight control algorithm of unmanned aerial vehicles, ground test equipment is needed to lift and limit its movement. Therefore, a 4-DOF motion platform driven by ropes and a leading screw is proposed. The vertical linear motion of the platform is provided by the motor-driven lead screw, and the motions in three rotation directions are driven by four motors pulling the ropes. In order to realize the position control of the platform, the dynamic model of the platform is established. Due to the different dynamic characteristics of the platform in each direction, the attitude compensation method realized by the fuzzy controller is used to improve the tracking performance. The simulation results show that in each movement direction, the settling time is less than 0.2 seconds and the position tracking error is zero. So, the system has the advantages of fast response, strong anti-interference ability, and high positioning accuracy. It can assist in the adjustment of a copter’s control system and has great application significance.

关 键 词：并联平台 动力学模型 绳索驱动 姿态控制 模糊控制器 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]