液压Stewart平台基于工作空间综合偏差的同步控制

 为了抑制轨迹跟踪过程中各自由度运动之间的相互干扰，将平台跟踪的轨迹进行泰勒级数展开，提出基于工作空间含有各向自由度运动自身跟踪偏差和各自由度运动之间耦合干扰偏差的综合轨迹跟踪偏差量的表达式。根据工作空间综合偏差量反馈，利用反步法设计鲁棒控制器，使各向自由度运动自身跟踪偏差与之间的耦合偏差同时稳定地趋于零，以限制跟踪过程中各自由度运动之间耦合干扰。同时，考虑到实际平台惯性参数不确定性，推导得出惯性参数自适应律，以提高系统的跟踪精度。利用AMESim与MATLAB进行联合仿真验证，结果表明:与传统的比例 积分 微分（PID）控制器相比，该方法在保证各自由度运动自身跟踪偏差稳定收敛的同时有效地降低了各自由度运动之间的耦合干扰偏差，更有效地提高了平台的跟踪性能。

Synchronous Tracking Control for Hydraulic Stewart Platform Based on Combination Tracking Errors in Operation Workspace

In order to restrain the coupled disturbance of each degree of freedom of the hydraulic Stewart platform, combination tracking errors, which consist of the tracking errors of each degree of freedom and the coupled position error, are proposed in this article through Taylor series expansion of the trajectory. The coupled position error expressed by the differential position errors of each two neighbor degrees of freedom is used to represent the result of the action of the coupling disturbance. Backstepping design methodology is adopted to develop an adaptive robust position tracking controller with uncertain parameters in the system dynamics. Both parts of the combination tracking errors are shown to be exponentially stable under the proposed control law. Simulation results with the combination of AMESim and MATLAB demonstrate the effectiveness of the approach as contrasted with the traditional proportion integration differentiation (PID) controller in improving the error tracking of each degree of freedom with coupling disturbance.