基于位姿预测补偿的Stewart平台自稳定控制策略研究  

Research on self-stabilizing control strategy for Stewart platform based on pose prediction compensation

作　　者：熊明星 司徒高宏 林伟杰 陆智强 张栩 李伟华[1,2] XIONG Mingxing;SITU Gaohong;LIN Weijie;LU Zhiqiang;ZHANG Xu;LI Weihua(Institute of Rail Transit,Jinan University,Guangdong Zhuhai 519000,China;School of International Energy,Jinan University,Guangdong Zhuhai 519000,China)

机构地区：[1]暨南大学轨道交通研究院,广东珠海519000 [2]暨南大学国际能源学院,广东珠海519000

出　　处：《工业仪表与自动化装置》2023年第4期35-42,共8页Industrial Instrumentation & Automation

摘　　要：针对船舰及海洋浮式平台上的设备容易受海浪的干扰,导致设备寿命减少、无法正常工作等问题,采用Stewart机构作为海上设备的稳定平台,提出基于位姿预测补偿的Stewart平台自稳定控制策略,使用ADAMS和MATLAB软件联合仿真对该控制策略进行验证,并且与无位姿预测补偿的Stewart平台自稳定控制方法对比,仿真结果表明:在输入扰动相同、使用相同的驱动电动缸并且存在延时情况下,加入了位姿预测补偿的Stewart平台控制方案能够将平台的最小扰动衰减率从65.6%提升到98.1%,具有较好的稳定效果。In response to the problem that equipment on ships and offshore floating platforms is susceptible to wave interference,leading to reduced service life and improper operation,a Stewart mechanism is proposed as a stable platform for offshore equipment.This paper presents a self-stabilizing control strategy for the Stewart platform based on pose prediction compensation.The strategy is validated through co-simulation using ADAMS and MATLAB software.Compared with the self-stabilizing control method without pose prediction compensation,simulation results show that the Stewart platform control scheme with pose prediction compensation can increase the minimum disturbance attenuation rate from 65.6%to 98.1%when subjected to the same input disturbance and using the same driving electric actuator,even in the presence of delay.Thus,the Stewart platform with the proposed control strategy has good stability performance.

关 键 词：稳定平台 STEWART 运动补偿 预测 联合仿真 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]