A PD Control Method for Active Vibration Isolation of Stewart Platform Based on Extended State Observer

A technology of expanded state observation and active vibration isolation, applied in general control systems, control/regulation systems, instruments, etc., can solve the problems of modeling and analysis of the operating platform, not considering the system, and limited control effects, so as to reduce the complexity and Cost, avoid arbitrariness, high control precision effect

A technology of expanded state observation and active vibration isolation, applied in general control systems, control/regulation systems, instruments, etc., can solve the problems of modeling and analysis of the operating platform, not considering the system, and limited control effects, so as to reduce the complexity and Cost, avoid arbitrariness, high control precision effect

CN105182801BActive Publication Date: 2017-10-03严格集团股份有限公司
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  • A PD Control Method for Active Vibration Isolation of Stewart Platform Based on Extended State Observer
  • A PD Control Method for Active Vibration Isolation of Stewart Platform Based on Extended State Observer
  • A PD Control Method for Active Vibration Isolation of Stewart Platform Based on Extended State Observer

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Experimental program
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specific Embodiment approach 1

[0101] Specific implementation mode one: combine figure 2 An active vibration isolation PD control method for a Stewart platform based on an extended state observer in this embodiment is specifically prepared according to the following steps:

[0102] Step 1. Set the plane on the Stewart platform around the X-axis of the Stewart platform at an angle Rotate, the plane on the Stewart platform rotates around the Y axis of the Stewart platform at an angle θ, the plane on the Stewart platform rotates around the Z axis of the Stewart platform at an angle ψ, and the Stewart platform is established by the Newton-Euler (Newton Euler method) method The dynamic model is shown in formula (1):

[0103]

[0104] in, is the generalized position vector on the Stewart platform, x, y and z are the displacements of the plane on the Stewart platform on the X, Y and Z axes respectively; M∈R 6×6 is the inertia matrix of the Stewart platform; R is a real number; B∈R 6×6 is the damping matr...

specific Embodiment approach 2

[0169] Specific embodiment two: the difference between this embodiment and specific embodiment one is: in step two, L=diag([l m1 , l m2 , l m3 , l m4 , l m5 , l m6 ]), l mi is the i-th element in the inductance matrix of the voice coil motor; i=1,...,6. Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0170] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: in step two, R=diag([r m1 , r m2 , r m3 , r m4 , r m5 , r m6 ]); mi is the i-th element in the voice coil motor resistance matrix; i=1,...,6. Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention provides a method for controlling the PD (proportion differentiation) of active vibration isolation of a Stewart platform based on an extended state observer, relates to a PD controlling method, and aims to solve the problems that formulation of a control strategy is relatively simple, the control accuracy should be improved, the influence of uncertain flexible accessories of a system is not taken into consideration, and the designing process which does not take structural linearity and control algorithm of the platform into consideration is arbitrary. The method is implemented by the following steps: 1, establishing a dynamic model of the Stewart platform; 2, establishing dynamic models of six actuation mechanisms of the Stewart platform; 3, acquiring a state space of the Stewart platform; 4, determining that observation error of the observer on the system state is a convergent observation error. The method is applied to PD control methods.

Description

technical field [0001] The invention relates to an active vibration isolation PD control method for a Stewart platform, in particular to an active vibration isolation PD control method for a Stewart platform based on an expansion state observer. Background technique [0002] The space missions faced by today's spacecraft are more and more diverse, and they need to carry a large number of measurement or communication equipment, which leads to the increasingly complex structure of the spacecraft itself and the dense low-frequency modes. At the same time, these sensitive loads often have high Pointing accuracy and stability requirements. If only the attitude control of the spacecraft body is carried out, it is already difficult to meet the higher and higher task requirements. It is necessary to seek other solutions to ensure the stability of sensitive loads, and multi-degree-of-freedom vibration isolation for it is a recent research hotspot. , in many schemes, the Stewart plat...

Claims

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Application Information

Patent Timeline
03 Oct 2017
Publication
CN105182801B
IPC
G05B17/02
Inventors
孙延超; 马广富