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针对空间微振动环境模拟的需求,以Stewart平台为对象,研究低频微振动激励控制.传统定增益控制器需要反复调节参数来获取满意的系统输出,同时由于摩擦等因素引起的非线性现象,导致难以在低频段建立精确的系统模型,以上问题均给控制器的设计带来困难.为此,设计一种自适应控制器加传统PID控制器的控制方案,并针对自适应控制器对于非参数不确定性等因素敏感的问题,采用dead-zone技术对自适应律进行修正,以提高控制器的鲁棒性.将此算法应用于Stewart微激励控制系统中,实验结果表明系统平台可以很好的输出单自由度与多自由度低频正弦激励,验证控制器在实际工程中的有效性.
In order to meet the requirements of space micro-vibration environment simulation, the low-frequency micro-vibration excitation control is studied on the Stewart platform. The traditional constant-gain controller needs to repeatedly adjust parameters to obtain satisfactory system output. At the same time, nonlinear phenomena caused by friction and other factors lead to It is difficult to establish an accurate system model in the low frequency band.These problems all bring difficulties to the design of the controller.Therefore, a control scheme of adaptive controller and traditional PID controller is designed, and for adaptive controller, Uncertainty and other factors, the dead-zone technique is used to correct the adaptive law to improve the robustness of the controller.This algorithm is applied to the Stewart micro-excitation control system, the experimental results show that the system platform can be very good The output single degree of freedom and multi-degree-of-freedom low-frequency sinusoidal excitation verify the effectiveness of the controller in practical engineering.