摘要
In order to enhance the innervation fidelity of simulators,a nonlinear controller is developed,which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture tracking error in Cartesian space. The problems of rapid tracking under the condition of the wide range,nonlinear and variable load are solved. After the nonlinear controller is actually applied to the hexapod parallel mechanisms of simulator,the dynamic-static capabilities of motion system are tested by amplitude-frequency response and posture precision. The experimental results show that the static precision improves ten times and system output amplitude increases and the phase lag reduces with respect to the same input signal in Cartesian space in comparison with the traditional proportional and derivative (i.e. PD) controlling method in joint space. Therefore the nonlinear controller can effectively improve the dynamic-static response performance of the hexapod parallel mechanisms of simulators in Cartesian space.
In order to enhance the innervation fidelity of simulators, a nonlinear controller is developed, which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture tracking error in Cartesian space. The problems of rapid tracking under the condition of the wide range, nonlin- ear and variable load are solved. After the nonlinear controller is actually applied to the hexapod parallel mechanisms of simulator, the dynamic-static capabilities of motion system are tested by amplitude-frequency response and posture precision. The experimental results show that the static precision improves ten times and system output amplitude increases and the phase lag reduces with respect to the same input signal in Cartesian space in comparison with the traditional proportional and derivative （ i. e. PD） controlling method in joint space. Therefore the nonlinear controller can effectively improve the dynamic-static response performance of the hexapod parallel mechanisms of simulators in Cartesian space.
基金
Sponsored by the Ministry of Education Science and Technology Research Key Project (Grant No.03055)
