Active compliance control strategy of Stewart platform

A technology of active compliance and control strategy, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of high fault tolerance rate and achieve the effect of improving fault tolerance rate

Active Publication Date: 2018-08-24
JILIN UNIV
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  • Abstract
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Problems solved by technology

[0005] The purpose of the present invention is to provide an active compliance control strategy for a Stewart platform, which is a control method with load as a parameter, which solves the current situation that most of the existing Stewart platforms take speed and displacement as control parameters, and avoids the traditional For the complex decoupling and coupling problems in the control of the Stewart platform, and the design of the control strategy does not require prior information of the equipment, the fault tolerance rate is high, and it is not interfered by factors such as assembly errors and measurement errors

Method used

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  • Active compliance control strategy of Stewart platform
  • Active compliance control strategy of Stewart platform
  • Active compliance control strategy of Stewart platform

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Embodiment

[0049] see Figure 1 to Figure 5 As shown, the specified load is applied to the specimen. Here we take pure bending loading as an example.

[0050] Step 1: Trajectory planning. Since the moving platform of the Stewart platform is used as the loading unit, the trajectory of the moving platform during the bending process of the specimen needs to be obtained. Firstly, take the fixed end, that is, the lower fixture as the initial coordinate system R, and calculate the motion trajectory of the moving end, that is, the upper fixture during the pure bending process of the specimen. From the pure bending deflection equation The trajectory C of point A in the coordinate system R can be obtained 1 for

[0051]

[0052] Y=0 (2)

[0053]

[0054] U=0 (4)

[0055] V=α (5)

[0056] Z = 0 (6)

[0057] where f B is the bending deflection, α is the bending angle, M e is the bending moment; E and I are the elastic modulus and section moment of inertia of the specimen respectiv...

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Abstract

The invention relates to an active compliance control strategy of a Stewart platform and belongs to the control field of a Stewart platform. The strategy is the active compliance control strategy of aStewart platform that takes a six-dimensional force transducer as a collection element through a neural network. Through combination of a track plan and the neural network, a relation model between the movement track of the platform and an output load can be obtained under a condition that platform design parameters are unknown. After an expected load applied a test piece is input into the model,a movement track of the platform, which enables the test piece to reach the expected load, can be obtained, and then a control method enabling the Stewart platform to take the load as a parameter canbe realized by means of displacement control. Compared with the prior art, the active compliance control strategy avoids conventional complex decoupling and coupling problems in control of the Stewart platform. Moreover, the design of the control strategy needs no prior information of equipment, is high in fault tolerance rate, and is not disturbed by the assembly errors, measurement errors and other factors.

Description

technical field [0001] The invention relates to the control field of a Stewart platform, in particular to an active compliance control strategy of a Stewart platform which uses a six-dimensional force sensor as an acquisition element and is realized through a neural network. The invention can provide a simple active compliance control mode for the technical fields of loading and positioning of the Stewart platform involved in the fields of flight simulator, automatic control, parallel machine tool, material performance test and the like. Background technique [0002] The parallel mechanism is to connect the moving platform with the fixed platform through more than two independent kinematic chains to form a closed-loop mechanism that drives and controls in parallel. The emergence of parallel mechanisms can be traced back to the 1930s. Among them, the six-degree-of-freedom platform, as a branch of the parallel robot mechanism, is the most researched parallel mechanism by scho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张世忠刘泽洋赵宏伟呼咏孙兴冻刘秋成谢英杰国磊赵运来
Owner JILIN UNIV
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