{"title":"电动平台分散子系统解耦控制研究","authors":"Yulong Zhao, Yuan Zhang, Min Hu, Yang Wang","doi":"10.1109/ICCSSE52761.2021.9545171","DOIUrl":null,"url":null,"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.","PeriodicalId":143697,"journal":{"name":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Research on Decoupling Control of Electric Platform Decentralized Subsystem\",\"authors\":\"Yulong Zhao, Yuan Zhang, Min Hu, Yang Wang\",\"doi\":\"10.1109/ICCSSE52761.2021.9545171\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":143697,\"journal\":{\"name\":\"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)\",\"volume\":\"12 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-07-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICCSSE52761.2021.9545171\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCSSE52761.2021.9545171","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Research on Decoupling Control of Electric Platform Decentralized Subsystem
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.
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