节点坐标不确定的六自由度Stewart平台位置控制
Position Control of 6-DOF Stewart Platform under the Condition of Uncertain Node Coordinates
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摘要: 针对Stewart平台铰节点坐标明显影响其动力规划的特点,基于节点坐标未知部分变化范围不大的具体情况,利用比例积分观测器(PIO)对动平台输出量进行有效的修正,并在此基础上得到了针对Stewart平台的多输入多输出高增益反馈控制器.数值结果说明了方法的有效性.Abstract: Considering the influence of node coordinates of Stewart platform on its dynamic tracing programming,and the limited variation of the joint coordinate,a new high gain feedback control methodology by employing proportional integral observer (PIO) is developed to improve the output of Stewart platform.Numerical result shows that the method is feasible and valid.