基于PI控制器的电液stewart平台六自由度运动分析

2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI) Pub Date : 1900-01-01 DOI:10.1109/CMI.2016.7413736

S. Das Mahapatra, D. Saha, R. Saha, D. Sanyal, D. Lahiri, J. P. Singh

{"title":"基于PI控制器的电液stewart平台六自由度运动分析","authors":"S. Das Mahapatra, D. Saha, R. Saha, D. Sanyal, D. Lahiri, J. P. Singh","doi":"10.1109/CMI.2016.7413736","DOIUrl":null,"url":null,"abstract":"A Stewart platform that is a 6-DOF parallel manipulator with a moveable frame for three linear and three angular motions has been designed with electrohydraulic actuation for achieving maneuverability of heavy load. A popular application is the motion simulator for an aircraft or a ship that could be used for training by generating specific motions within the confine of a laboratory. The main contribution of this work is the design and realization of a high-precision simulator with low-cost proportional valves using a simple PI controller for achieving basic motions. A pose-feedback controller has been conceived for the system constructed on the basis of the feedback of the leg lengths and a linearized inverse kinematic model about the neutral position. A number of real-time experiments have shown the design to be quite satisfactory.","PeriodicalId":244262,"journal":{"name":"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)","volume":"182 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Analysis of 6-DOF motion with PI controller in electrohydraulic stewart platform\",\"authors\":\"S. Das Mahapatra, D. Saha, R. Saha, D. Sanyal, D. Lahiri, J. P. Singh\",\"doi\":\"10.1109/CMI.2016.7413736\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A Stewart platform that is a 6-DOF parallel manipulator with a moveable frame for three linear and three angular motions has been designed with electrohydraulic actuation for achieving maneuverability of heavy load. A popular application is the motion simulator for an aircraft or a ship that could be used for training by generating specific motions within the confine of a laboratory. The main contribution of this work is the design and realization of a high-precision simulator with low-cost proportional valves using a simple PI controller for achieving basic motions. A pose-feedback controller has been conceived for the system constructed on the basis of the feedback of the leg lengths and a linearized inverse kinematic model about the neutral position. A number of real-time experiments have shown the design to be quite satisfactory.\",\"PeriodicalId\":244262,\"journal\":{\"name\":\"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)\",\"volume\":\"182 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CMI.2016.7413736\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CMI.2016.7413736","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 12

摘要

为实现重载机动，设计了一种六自由度并联机器人Stewart平台，该平台采用电液驱动，可进行三直线和三角运动。一个流行的应用是飞机或船舶的运动模拟器，它可以通过在实验室的限制内产生特定的运动来用于训练。本工作的主要贡献是设计和实现了一个高精度模拟器与低成本的比例阀使用一个简单的PI控制器来实现基本运动。在腿长反馈和中立位置线性化逆运动学模型的基础上，设计了姿态反馈控制器。大量的实时实验表明，该设计是令人满意的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Analysis of 6-DOF motion with PI controller in electrohydraulic stewart platform

A Stewart platform that is a 6-DOF parallel manipulator with a moveable frame for three linear and three angular motions has been designed with electrohydraulic actuation for achieving maneuverability of heavy load. A popular application is the motion simulator for an aircraft or a ship that could be used for training by generating specific motions within the confine of a laboratory. The main contribution of this work is the design and realization of a high-precision simulator with low-cost proportional valves using a simple PI controller for achieving basic motions. A pose-feedback controller has been conceived for the system constructed on the basis of the feedback of the leg lengths and a linearized inverse kinematic model about the neutral position. A number of real-time experiments have shown the design to be quite satisfactory.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI)

自引率

0.00%

发文量