六自由度液压运动平台的迭代学习控制

Iterative Learning Control of6-DOF Hydraulic Motion Platform

本文针对飞行模拟器六自由度液压运动平台的数学模型,设计了一个反馈—前馈迭代学习控制器,该控制器将迭代学习算法与传统的PID控制算法结合,控制器前馈部分用于提高系统的控制精度,控制器反馈部分用于提高系统的鲁棒性能。然后证明了控制器收敛条件并利用Simulink进行了仿真,仿真分析和实际应用表明,基于迭代学习算法的液压运动平台位置控制系统具有控制精度高、稳定性好、鲁棒性强等特点,实现了液压运动平台系统的精确位置控制。

This paper designed a feedback—feedforward iterative learning controller aim at the model of flight simulator six degrees of freedom motion platform,the controller combined iterative learning control arithmetic with traditional PID control arithmetic,the feedforward part of which was used to improve control precision and the feedback part was used to improve the robustness of the system.And then it proved the constringency condition and used Simulink to simulate.Simulation analysis and practice application show that the position control system of hydraulic motion platform based on iterative learning control arithmetic had the character of higher precision,better stability and stronger robustness,which realized the precision position control of hydraulic motion platform.