Dynamic decoupling control strategy for 6-DOF motion simulator based on singular value decomposition

Abstract

The strong dynamic coupling exists in each channel of 6-DOF motion simulator. Aiming at this problem, singular value decomposition is used to transform coupling physical space to decoupling space of motion simulator. PID controller of decoupling space for each channel of motion simulator is designed, which realizes dynamic decoupling of motion simulator and optimal regulation of control parameter of each channel. The experiment results verify the effectiveness of the proposed dynamic decoupling control strategy.