CN104142692A - Six-degree-of-freedom motion platform - Google Patents
Six-degree-of-freedom motion platform Download PDFInfo
- Publication number
- CN104142692A CN104142692A CN201410291771.0A CN201410291771A CN104142692A CN 104142692 A CN104142692 A CN 104142692A CN 201410291771 A CN201410291771 A CN 201410291771A CN 104142692 A CN104142692 A CN 104142692A
- Authority
- CN
- China
- Prior art keywords
- degree
- motion platform
- freedom motion
- freedom
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position Or Direction (AREA)
Abstract
The invention provides a six-degree-of-freedom motion platform, and relates to the field of mechanical devices, in particular to the six-degree-of-freedom motion platform. The six-degree-of-freedom motion platform comprises six electromagnetic linear actuators arranged on a base, and the electromagnetic linear actuators are connected with one end of a connecting rod through a three-degree-of-freedom hinge. The other end of the connecting rod is connected with an upper platform through a two-degree-of-freedom hinge, and the upper platform is provided with a pose sensor. The six-degree-of-freedom motion platform is characterized in that the electromagnetic linear actuators are all connected with an active disturbance rejection controller. According to the six-degree-of-freedom motion platform, the trace tracking precision of all the actuators is improved, self-adaptive control and sliding-mode control are effectively combined, in order to compensate disturbance in real time, a force sensor can be fully utilized to measure the magnitude of load disturbance action, and the trace tacking precision of the system can be effectively improved.
Description
Technical field
The present invention relates to mechanical hook-up field, be specifically related to 6-dof motion platform.
Technical background
The control of 6-dof motion platform, at present general You Liangge branch: respectively based on kinematics and dynamics, in based on dynamic (dynamical) control method, the kinetic model degree of accuracy of 6-dof motion platform is very important.Real system is set up to model is very difficult accurately, brought thus the error between model, thereby reduce control accuracy.Based on kinematic control strategy, its thought is actually to be controlled the motion of single axle, be convenient to understanding, workable, and kinetic model recedes into the background.Yet 6-dof motion platform is applied to actual time, between six actuators, there is stronger coupling, and the acting force that loads on each actuator is constantly to change, the mechanical part of 6-dof motion platform is complicated, exercise performance is limited by its Machine Design size to a great extent, and there is each other coupling and interference, greatly increased the difficulty of controlling.
Summary of the invention
In order to address the above problem, 6-dof motion platform performance of the present invention, improves the tracking accuracy of each actuator, and adaptive control and sliding formwork are controlled to effective combination, for real-Time Compensation disturbance, can make full use of the size that power sensor carrys out sensing lead perturbation action.For a kind of 6-dof motion platform of little working range, adopt inverse dynamics control method, the method be take robust control as basis, and does not need accurate kinetic model, and counting yield greatly improves.Set correlated performance index and guaranteed that the exercise performance of platform is stable, designed a kind of new type of control method simultaneously, the method is without kinetic model, only need to select corresponding controller parameter, guarantee the exercise performance index of each time of platform, as maximum overshoot and adjustment time, maximum steady state error amount and slow-response time etc., all can meet expectation value.
The present invention includes six electromagnetism linear actuators that are arranged on base, by Three Degree Of Freedom hinge, a section with connecting rod is connected described electromagnetism linear actuator, the connecting rod other end is connected with upper mounting plate by two degrees of freedom hinge, upper mounting plate is provided with Position and attitude sensor, it is characterized in that described electromagnetism linear actuator is all connected with an automatic disturbance rejection controller.
Preferably, automatic disturbance rejection controller comprises extended state observer, Nonlinear Tracking Differentiator, nonlinear state Error Feedback device, the parameter of automatic disturbance rejection controller
,
,
.
The present invention improves the tracking accuracy of each actuator, adaptive control and sliding formwork are controlled to effective combination, for real-Time Compensation disturbance, can make full use of the size that power sensor carrys out sensing lead perturbation action, the method, without kinetic model, only need to be selected corresponding controller parameter, guarantees the exercise performance index of each time of platform, as maximum overshoot and adjustment time, maximum steady state error amount and slow-response time etc., all can meet expectation value.
Embodiment
The present invention includes six electromagnetism linear actuators that are arranged on base, by Three Degree Of Freedom hinge, a section with connecting rod is connected described electromagnetism linear actuator, the connecting rod other end is connected with upper mounting plate by two degrees of freedom hinge, upper mounting plate is provided with Position and attitude sensor, it is characterized in that described electromagnetism linear actuator is all connected with an automatic disturbance rejection controller, automatic disturbance rejection controller comprises extended state observer, Nonlinear Tracking Differentiator, nonlinear state Error Feedback device, the parameter of automatic disturbance rejection controller in the present invention
,
,
.
Conventional automatic disturbance rejection controller is ADRC, and the Trajectory Tracking Control based on ADRC is being removed reference acceleration feedforward link, and the parameter value of conventional automatic disturbance rejection controller is:
，
，
，
，
。
The selection of target trajectory will be considered the tracking power of real system, conventional way is to select sine function at present, because its all-order derivative is all continually varyings, match with the situation of change of real system, the aim parameter that is used as Trajectory Tracking System is comparatively desirable.For describing the improve effect of MADRC to control accuracy in detail, the inhibition ability of tracking performance, system parameter variations and the external disturbance of conventional ADRC, MADRC and PID+FF offset of sinusoidal track has been carried out to comparative study.The sinusoidal trajectory tracking error contrast of three kinds of controllers, the tracking accuracy of MADRC is the highest, and the mechanism of power is to adopt state observer, and does not use friction force model.There is just " first observation, post-compensation ", brought thus the hysteresis of state observer effect.Tracking error maximal value is within 1um.In real system, friction force is comparatively complicated, when especially velocity reversal changes, as shown in the pulse in graph of errors.Due to ADRC and MADRC friction compensation.
The present invention improves the tracking accuracy of each actuator, adaptive control and sliding formwork are controlled to effective combination, for real-Time Compensation disturbance, can make full use of the size that power sensor carrys out sensing lead perturbation action, the method, without kinetic model, only need to be selected corresponding controller parameter, guarantees the exercise performance index of each time of platform, as maximum overshoot and adjustment time, maximum steady state error amount and slow-response time etc., all can meet expectation value.
Claims (2)
1. a 6-dof motion platform, comprise six electromagnetism linear actuators that are arranged on base, by Three Degree Of Freedom hinge, a section with connecting rod is connected described electromagnetism linear actuator, the connecting rod other end is connected with upper mounting plate by two degrees of freedom hinge, upper mounting plate is provided with Position and attitude sensor, it is characterized in that described electromagnetism linear actuator is all connected with an automatic disturbance rejection controller.
2. 6-dof motion platform as claimed in claim 1, is characterized in that the parameter of described automatic disturbance rejection controller is
,
,
.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410291771.0A CN104142692A (en) | 2014-06-26 | 2014-06-26 | Six-degree-of-freedom motion platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410291771.0A CN104142692A (en) | 2014-06-26 | 2014-06-26 | Six-degree-of-freedom motion platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104142692A true CN104142692A (en) | 2014-11-12 |
Family
ID=51851895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410291771.0A Pending CN104142692A (en) | 2014-06-26 | 2014-06-26 | Six-degree-of-freedom motion platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104142692A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898550A (en) * | 2015-05-05 | 2015-09-09 | 北京航空航天大学 | Dynamic servo system composite control method based on sliding mode extended state observer (SMESO) |
| CN111293949A (en) * | 2020-03-23 | 2020-06-16 | 东南大学 | Control method of anti-interference electric six-degree-of-freedom parallel mechanism |
-
2014
- 2014-06-26 CN CN201410291771.0A patent/CN104142692A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898550A (en) * | 2015-05-05 | 2015-09-09 | 北京航空航天大学 | Dynamic servo system composite control method based on sliding mode extended state observer (SMESO) |
| CN111293949A (en) * | 2020-03-23 | 2020-06-16 | 东南大学 | Control method of anti-interference electric six-degree-of-freedom parallel mechanism |
| CN111293949B (en) * | 2020-03-23 | 2023-04-11 | 东南大学 | Control method of anti-interference electric six-degree-of-freedom parallel mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Li et al. | Learning object-level impedance control for robust grasping and dexterous manipulation | |
| Nedic et al. | Optimal cascade hydraulic control for a parallel robot platform by PSO | |
| Xu et al. | Dynamic neural networks based adaptive admittance control for redundant manipulators with model uncertainties | |
| CN106493735B (en) | There are the flexible mechanical arm disturbance observation control methods of external disturbance | |
| CN104379308A (en) | Robot control device and robot control method | |
| CN108453732B (en) | Self-adaptive dynamic force/position hybrid control method for closed robot of control system | |
| CN102363301A (en) | Method for adaptively tracking and controlling fingertip force of robot anthropomorphic finger | |
| CN104736307A (en) | Method and system for determination of at least one property of a joint | |
| Zhang et al. | Modeling, identification and control of a redundant planar 2-DOF parallel manipulator | |
| CN109352656B (en) | Multi-joint mechanical arm control method with time-varying output constraint | |
| Tödtheide et al. | Antagonistic impedance control for pneumatically actuated robot joints | |
| CN105652667A (en) | High-precision path tracking control method for uncertain-model double-joint mechanical arms | |
| CN109976150A (en) | A kind of drive lacking multi-input multi-output system centralization Auto-disturbance-rejection Control | |
| CN104142692A (en) | Six-degree-of-freedom motion platform | |
| Stückler et al. | Compliant task-space control with back-drivable servo actuators | |
| Mallikarjunaiah et al. | Design of pid controller for flexible link manipulator | |
| Huang et al. | Nonlinear pd controllers with gravity compensation for robot manipulators | |
| Lendermann et al. | Comparison of passivity based impedance controllers without torque-feedback for variable stiffness actuators | |
| CN110561427A (en) | Series elastic driver compliance control system and method based on compensation | |
| Wang et al. | Output regulation of the ball and plate system with a nonlinear velocity observer | |
| Kumar et al. | Variable gain super twisting controller for the position stabilization of Stewart platform | |
| Sharma et al. | Design and implementation of second order sliding mode controller for 2-DOF flexible robotic link | |
| Umar et al. | Position and trajectory tracking control for the ball and plate system using mixed sensitivity problem | |
| Sain | PID, I-PD and PD-PI controller design for the ball and beam system: A comparative study | |
| Singh et al. | Dynamic Modellingand Control of a 3-DOF Planar Parallel Robotic (XYθZ Motion) Platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141112 |
|
| WD01 | Invention patent application deemed withdrawn after publication |