摘要
针对电液驱动Stewart机构的协同控制问题,引入最小相关轴思想,采用相邻交叉耦合结构,以满足机构的多通道协同控制的要求。同时,针对机构单通道阀控缸系统参数的时变以及非线性等特征,设计了模糊分数阶PID控制器,提出了基于相邻交叉耦合结构的模糊分数阶PID控制策略,并进行了实验研究,研究结果表明该控制方法具有良好的跟踪效果,能够很好的实现机构的多通道协同控制。
As to the coordination control of electro -hydraulic Stewart mechanism, it applies minimum correlative axis theory and adjacent cross coupling structure, in order to meet the requirements of the mechanism＇ s muhichannel coordination control. Meanwhile, considering the features such as alteration over time and nonlinearity of system parameters of the single channel valve - controlled cylinder, it designs a PID controller of obscure fractional order. It makes the obscure fractional order PID controlling strategy based on adjacent cross coupling structure. Besides, it carries out experimental studies, and the results show that the controlling method has fine tracking effects and coordination controls of the mechanism.
出处
《制造技术与机床》
北大核心
2016年第10期62-66,共5页
Manufacturing Technology & Machine Tool
基金
国家自然科学基金资助项目(50875228)
