| 柔性支撑下的Stewart平台速度控制 |
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| 引用本文： | 保宏,段宝岩,米建伟.柔性支撑下的Stewart平台速度控制[J].西安电子科技大学学报,2006,33(4):535-538. |
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| 作者姓名： | 保宏 段宝岩 米建伟 |
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| 作者单位： | 西安电子科技大学 机电工程学院，陕西 西安 710071 |
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| 摘 要： | 针对大射电望远镜中舱索系统与Stewart平台存在强动力耦合特点，研究了柔性支撑下的Stewart平台位姿跟踪问题．将两系统的动力学耦合视为对Stewart平台的未知外扰，通过利用高增益状态观测器，提出了柔性支撑下Stewart平台速度控制方法．数值仿真表明该方法有效地抑制了两系统间的动力耦合影响，提高了Stewart平台的扫描精度．
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| 关 键 词： | 舱索系统 Stewart平台 动力耦合 速度控制 |
| 文章编号： | 1001-240012006）04-0535-04 |
| 收稿时间： | 2005-08-07 |
| 修稿时间： | 2005-08-07 |
Velocity control of Stewart platform with flexible supporting |
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| BAO Hong,DUAN Bao-yan,MI Jian-wei.Velocity control of Stewart platform with flexible supporting[J].Journal of Xidian University,2006,33(4):535-538. |
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| Authors: | BAO Hong DUAN Bao-yan MI Jian-wei |
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| Affiliation: | School of Mechano-electronic Engineering, Xidian Univ., Xi′an 710071， China |
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| Abstract: | By considering the special characteristic of distinct dynamical couple between cabin-cable system and Stewart platform, the tracking control of the Stewart platform on the flexible supporting structure is studied. The dynamic coupling between the two comprised systems are considered as the unknown to the Stewart platform. A velocity controller is proposed for the Stewart ,platform with the flexible supporting based high gain feedback observer. Numerical simulation shows that the dynamic coupling is attenuated effectively and that traiectory tracking is improved. |
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| Keywords: | cabin-cable system Stewart platform dynamical coupling velocity control |
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