Acceleration and deceleration method of six-degree-of-freedom swinging device based on Stewart platform

Abstract

The invention discloses an acceleration and deceleration method for a six-degree-of-freedom swinging device based on a Stewart platform, and provides the six-degree-of-freedom swinging device. The method comprises the following steps: step S10, position inverse solution: obtaining initial pose coordinates of the six-degree-of-freedom swinging device, and obtaining expansion amount information of six electric cylinder supporting legs through calculation; step S20, position forward solution: performing position forward solution calculation by adopting a Newton-Raphson iteration method accordingto the expansion amount information of the six electric cylinder supporting legs, and obtaining a final initial iteration value through multiple times of sampling and multiple times of calculation; and step S30, trajectory planning: controlling the six-degree-of-freedom swinging device in a manner of combining a timing interpolation method and a sine acceleration and deceleration control algorithm. Compared with the prior art, the acceleration and deceleration method of the six-degree-of-freedom swinging device based on the Stewart platform can solve the problem that slight impact is generatedby movement in a traditional control method, and the service life of the platform is prolonged.

Description

technical field [0001] The invention relates to the technical field of motion platforms, in particular to an acceleration and deceleration method of a six-degree-of-freedom rocking device based on a Stewart platform. Background technique [0002] The Stewart platform is a multi-input and multi-output control system with strong nonlinear coupling characteristics. The accuracy and real-time performance of its kinematics forward and reverse solution algorithm and the robustness of dynamic control determine the performance of its control system. The key, the six-axis Stewart platform control system of the transmission adopts the invention of computer + motion control card or motion controller and embedded controller. [0003] The current six-degree-of-freedom rocking device of the Stewart platform is generally used as an experimental device to simulate the shaking posture of a ship in water, provide six-degree-of-freedom motion, and simulate three-axis space motion at most. How...

AI Technical Summary

Problems solved by technology

[0006] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an acceleration and deceleration method for a six-degree-of-freedom rocking device based on the Stewart platform, which can solve the problem of slight impact caused by motion in traditional control inventions, and improve the service life of the platform.

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