TY - GEN
T1 - QFT robust control of hydraulic driven stewart platform using dynamics real-time compensation
AU - Tang, Jianlin
AU - Yuan, Lipeng
AU - Zhao, Keding
PY - 2008
Y1 - 2008
N2 - A Quantitative Feedback Theory (QFT) control strategy using dynamics real-time compensation is put forward to solve the inferior servo tracking problem derived from the severe dynamics coupling and the model uncertainty in the hydraulic driven six degree-of-freedom parallel motion platform. The control theme consists of the compensation channel and the main closed-loop control channel. Based on the dynamics equation of the Stewart platform and the control mathematical model of the driven parts, the compensation channel realizes the dynamic feed forward for the modeled disturbance force according to the principle of equivalent control architecture. To improve the robust stability of the uncertain system and the ability of the reduction of the unmodeled disturbance force, the main feedback control loop adopts the QFT controller. The experimental results indicate that, with this control strategy, the response time, movement accuracy and resistance to load disturbance of the system can be improved, the system has good performance in tracking, and the dynamical coupling and unknown disturbance can also be greatly compensated.
AB - A Quantitative Feedback Theory (QFT) control strategy using dynamics real-time compensation is put forward to solve the inferior servo tracking problem derived from the severe dynamics coupling and the model uncertainty in the hydraulic driven six degree-of-freedom parallel motion platform. The control theme consists of the compensation channel and the main closed-loop control channel. Based on the dynamics equation of the Stewart platform and the control mathematical model of the driven parts, the compensation channel realizes the dynamic feed forward for the modeled disturbance force according to the principle of equivalent control architecture. To improve the robust stability of the uncertain system and the ability of the reduction of the unmodeled disturbance force, the main feedback control loop adopts the QFT controller. The experimental results indicate that, with this control strategy, the response time, movement accuracy and resistance to load disturbance of the system can be improved, the system has good performance in tracking, and the dynamical coupling and unknown disturbance can also be greatly compensated.
KW - Disturbance force
KW - Dynamics real-time compensation
KW - Hydraulic driven Stewart platform
KW - QFT robust controller
UR - https://www.scopus.com/pages/publications/52149112480
U2 - 10.1109/WCICA.2008.4593048
DO - 10.1109/WCICA.2008.4593048
M3 - 会议稿件
AN - SCOPUS:52149112480
SN - 9781424421145
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 950
EP - 954
BT - Proceedings of the 7th World Congress on Intelligent Control and Automation, WCICA'08
T2 - 7th World Congress on Intelligent Control and Automation, WCICA'08
Y2 - 25 June 2008 through 27 June 2008
ER -