柔性悬架Gough-Stewart平台振动控制

IEEE Trans. Robotics Autom. Pub Date : 2003-06-25 DOI:10.1109/TRA.2003.810233

Yuan Cheng, Gexue Ren, Shiliang Dai

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引用次数: 24

摘要

研究了Gough-Stewart平台在柔性支撑结构上的振动控制。这个应用程序的显著特点是两个平台是动态耦合的。系统采用基于位置预测的比例导数控制律。通过比较两个平台的均方根响应来评价控制效果。

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Vibration control of Gough-Stewart platform on flexible suspension

Studies the vibration control of the Gough-Stewart platform on flexible supporting structures. The distinct characteristic of this application is that the two platforms are dynamically coupled. A proportional derivative control law based on the position prediction is used in the system. The control effects are evaluated by comparing the root mean square responses of the two platforms.

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IEEE Trans. Robotics Autom.

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