| 基于DSP的电动六自由度运动模拟器位置伺服控制策略 |
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| 引用本文： | 吴上泉.基于DSP的电动六自由度运动模拟器位置伺服控制策略[J].电气自动化,2016(6):1-4. |
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| 作者姓名： | 吴上泉 |
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| 作者单位： | 工业和信息化部电子第五研究所,广东广州,510610 |
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| 摘 要： | 针对目前电动六自由度运动模拟器的特点,对平台进行了基于位姿反解算法的铰链空间控制,并介绍了一种新型的基于DSP的多级控制结构。在电动缸闭环控制中,引入模糊前馈PID智能算法,提高实时性与动态控制精度。基于控制算法与硬件器对平台进行试验,结果表明控制策略实时性好,动态精度高。
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| 关 键 词： | 六自由度运动模拟器 运动学反解 多级控制 DSP控制器 模糊前馈 |
Position Servo Control Strategy of a DSP-based Electric Six Degrees of Freedom (DOF)Motion Si mulator |
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| Abstract: | Based on an analysis of the characteristics of present electric 6-DOF motion simulators,this paper implements a hinge space control over the platform based on inverse displacement,and introduces a novel DSP-based multi-level control structure.In the closed-loop control of the electric cylinder,it introduces a fuzzy feed-forward PID intelligent algorithm to improve real-time performance and dynamic control accuracy.Results of tests made on the platform based on the control algorithm and hardware controller show that this control strategy has a good real-time performance and high dynamic accuracy. |
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| Keywords: | 6-DOF motion simulator inverse kinematics multi-level control DSP controller fuzzy feed-forward |
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