Stable control method of double-cylinder coordinated movement mechanism

Abstract

The invention relates to a stable control method of a double-cylinder coordinated movement mechanism. The double-cylinder coordinated movement mechanism enables a hydraulic cylinder or an electric cylinder to make coordinated movement by stretching or contraction and thus an upper platform moves to different positions in a two-freedom-degree range with a pitching-direction freedom degree and an azimuth freedom degree, wherein the upper platform is capable of moving with the pitching-direction freedom degree and the azimuth freedom degree. Moreover, the control method employs a three-closed-loop control strategy is characterized in that a cylinder-length closed-loop control strategy is employed by the innermost loop, the intermediate loop employs a control strategy of the speed closed loopof the stable platform with the two freedom degrees relative to the inertial space, and the outermost loop employs a control strategy of the position closed loop of the stable platform with the two freedom degrees relative to the inertial space. According to the invention, stable control of the double-cylinder coordinated movement mechanism is realized; and the control strategy for fuzzy PI-feedforward composite control is added based on stable control. According to the ratios of sum moments, different membership functions and fuzzy rule bases are designed respectively, so that the control effect and stability precision are improved.

Description

technical field [0001] The invention relates to the field of stability control, in particular to a method for stability control of a double-cylinder cooperative motion mechanism. Background technique [0002] The traditional double-cylinder coordinated motion mechanism is only used as a swing table, and has not been applied to the field of stable platforms. Compared with the traditional stable platform mechanism, the cooperative motion mechanism has a large degree of nonlinearity, and the establishment of a mathematical model is complicated. The traditional control strategy is only a closed loop to the length of the cylinder. In this way, the cylinder is only an executive component, not a stable platform for final control. Due to reasons such as mechanical clearance, the traditional control method cannot accurately perform stable control, and cannot reflect the advantages of small error and high precision of the parallel mechanism. Contents of the invention [0003] In or...

AI Technical Summary

Problems solved by technology

Compared with the traditional stable platform mechanism, the cooperative motion mechanism has a large degree of nonlinearity, and the establishment of a mathematical model is complicated. The traditional control strategy is only a closed loop to the length of the cylinder. In this way, the cylinder is only an executive component, not a stable platform for final control.

Due to mechanical clearance and other reasons, the traditional control method cannot accurately perform stable control, and does not reflect the advantages of small error and high precision of the parallel mechanism

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