Research on Decoupling Control of Electric Platform Decentralized Subsystem

Abstract

Aiming at the cross coupling effect between the electric cylinder driving devices of the six-degree-of-freedom electric platform, the decoupling control of the electric platform decentralized subsystem was carried out. First, two adjacent electric cylinders with obvious coupling characteristics are used as a decentralized subsystem, and the mathematical model of the decentralized subsystem of the electric platform is constructed; On this basis, based on the principle of diagonal decoupling, the decoupling control of the electric platform decentralized subsystem is designed; Finally, the position tracking and tracking error convergence of the system are analyzed by simulation, which verifies the effectiveness of fuzzy decoupling control for the electric platform decentralized subsystem.