Stewart并联机构主动隔振平台的非线性L<sub>2</sub>鲁棒控制

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杨涛, 马嘉, 侯增广, 谭民. Stewart并联机构主动隔振平台的非线性L₂鲁棒控制[J]. 机器人, 2009, 31(3): 210-216,223.. YANG Tao, MA Jia, HOU Zeng-guang, TAN Min. Nonlinear L₂ Robust Control of an Active Vibration Isolation Platform Based on Stewart Parallel Mechanism. ROBOT, 2009, 31(3): 210-216,223..

摘要以Stewart并联机构主动隔振平台为研究对象，提出一种非线性L₂鲁棒主动隔振控制方法．应用牛顿—欧拉方法建立了由直线音圈电机驱动的隔振平台的完整动力学模型．在模型非匹配不确定性的上界未知的情况下，充分考虑动力学模型的非线性特性、参数摄动以及未建模动态等因素对隔振控制的影响，设计了模型非匹配不确定性上界估计的调节律并推导出鲁棒主动隔振控制律．通过构造合适的存储函数，在理论上证明了系统的稳定性和满足L₂性能准则的隔振性能．仿真结果表明，该方法能有效地抑制6个方向的低频振动，得到满意的隔振性能．

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关键词 ： Stewart平台, 鲁棒控制, 主动隔振, 直线音圈电机

Abstract：A nonlinear L₂ robust active vibration isolation control approach is proposed for the active vibration isolation platform based on Stewart parallel mechanism.The entire dynamic model of the vibration isolation platform driven by the linear voice coil motors is developed with Newton-Euler method.Without knowing the upper bound of the unmatched uncertainties of the model,the influence factors of vibration isolation,such as the nonlinear characteristics of the dynamic model,the parameter perturbation and the unmodeled dynamics,are fully taken into account.A tuning rule is designed to estimate the unknown upper bound of the unmatched uncertainties.Moreover,a robust active vibration isolation controller is derived.By constructing appropriate storage functions,the controller stability and the L₂ performance criterion based vibration isolation performance are verified theoretically.The simulation results demonstrate that the controller can effectively attenuate low-frequency vibrations in all six degrees of freedom and the satisfactory vibration isolation performance can be achieved.

Key words： Stewart platform robust control active vibration isolation linear voice coil motor

收稿日期: 2008-09-27

:	TB535
	TP242

基金资助:国家自然科学基金资助项目（60775043，60725309）

作者简介: 杨涛（1980- ），男，博士生．研究领域：振动主动控制，机器人智能控制等．
马嘉（1980- ），女，博士生．研究领域：振动主动控制，机器人智能控制等．
侯增广（1969- ），男，博士，研究员．研究领域：智能控制理论与应用，智能机器人控制等．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2009/V31/I3/210

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