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空间隔振器协调控制策略研究

DOI: 10.15918/j.tbit1001-0645.2015.06.010

Keywords: 非正交Stewart平台 振动隔离 协调控制 状态观测器

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Abstract:

针对非正交Stewart隔振平台各通道之间存在强烈耦合特性问题,提出了非正交Stewart隔振平台的协调控制策略. 首先建立了六自由度非正交Stewart隔振平台模型,根据简化的模型设计了协调控制算法;并针对控制器所需的输入不易获得的问题,设计出状态观测器以获得控制器所需要的输入. 仿真结果表明,该算法显著提高了非正交Stewart的隔振性能

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