摘要
介绍一款4自由度并联平台,分析其结构特性以及空间几何关系;针对并联平台具有多变量、强耦合、非线性和参数不确定等特点,应用模糊控制理论设计控制系统对平台空间位姿进行控制;利用平台结构特性对控制对象进行部分解耦,降低模糊控制系统设计的复杂性,再独立设计两个双输入双输出模糊控制器;经过MatLab仿真,结果表明控制系统取得良好的控制效果。
Introduces one kind of parallel platform with four degrees of freedom, and analyses its structural characteristics and space geometry relation. According to the characteristics of multivariable, strong coupling, non-linear and parameter uncertainties, fuzzy theory is used to design control system of the platform. By utilizing the structural characteristics of parallel platform, decoupled the control object partly, to reduce the design complexity of fuzzy controller, and then design two double-input-double-output fuzzy controller. Through the MatLab simulation, the result shows that the fuzzy control system receives well effect.
出处
《现代计算机》
2013年第5期3-6,10,共5页
Modern Computer
