| 六自由度Stewart平台动力学模型的特性分析 |
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| 引用本文： | 郭洪波,刘永光,李洪人.六自由度Stewart平台动力学模型的特性分析[J].北京航空航天大学学报,2007,33(8):940-944. |
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| 作者姓名： | 郭洪波 刘永光 李洪人 |
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| 作者单位： | 1.北京航空航天大学 自动化科学与电气工程学院, 北京 100083 |
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| 摘 要： | 根据六自由度Stewart平台的动力学模型,利用矩阵分析的方法详细分析和证明了动力学模型的一些物理特性:动力学模型系数矩阵的有界性,矩阵函数的斜对称性以及动力学模型的线性参数化. 这些工作为基于六自由度Stewart平台动力学模型的非线性控制器设计、系统稳定性的证明以及系统物理参数的辨识奠定了理论基础.
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| 关 键 词： | 六自由度 Stewart平台 动力学模型 斜对称性 线性参数化 |
| 文章编号： | 1001-5965（2007）08-0940-05 |
| 收稿时间： | 2006-10-10 |
| 修稿时间： | 2006-10-10 |
Characteristics analysis of dynamic model of 6-DOF Stewart platform |
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| Guo Hongbo,Liu Yongguang,Li Hongren.Characteristics analysis of dynamic model of 6-DOF Stewart platform[J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(8):940-944. |
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| Authors: | Guo Hongbo Liu Yongguang Li Hongren |
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| Institution: | 1.School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China2. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | Based on the derived dynamic model of a six-degree-of-freedom(6-DOF) Stewart platform,some physical characteristics of the model were analyzed and proved in detail using matrix analysis method,which consist of the boundedness of the coefficient matrixes of dynamic model,the skew-symmetry of the matrix functions,and the linear parameterization of the complete dynamic model of the 6-DOF Stewart platform.These works laid a foundation for the development of the nonlinear control strategies to achieve higher system performance by incorporating more structural system information,i.e.a model into the controller,and proving the stability of the corresponding control system.Furthermore,the linear parameterization model of the complete dynamic model can also be used in the physical parameters estimation of the dynamic system. |
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| Keywords: | six degrees of freedom Stewart platform dynamic model skew-symmetry linear parameterization |
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