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为了抑制轨迹跟踪过程中各自由度运动之间的相互干扰,将平台跟踪的轨迹进行泰勒级数展开,提出基于工作空间含有各向自由度运动自身跟踪偏差和各自由度运动之间耦合干扰偏差的综合轨迹跟踪偏差量的表达式。根据工作空间综合偏差量反馈,利用反步法设计鲁棒控制器,使各向自由度运动自身跟踪偏差与之间的耦合偏差同时稳定地趋于零,以限制跟踪过程中各自由度运动之间耦合干扰。同时,考虑到实际平台惯性参数不确定性,推导得出惯性参数自适应律,以提高系统的跟踪精度。利用AMESim与MATLAB进行联合仿真验证,结果表明:与传统的比例-积分-微分(PID)控制器相比,该方法在保证各自由度运动自身跟踪偏差稳定收敛的同时有效地降低了各自由度运动之间的耦合干扰偏差,更有效地提高了平台的跟踪性能。
In order to restrain the mutual interference between degrees of freedom motion during trajectory tracking, the trajectory of the platform tracking is expanded by Taylor series. It is proposed that based on the deviation of the coupling disturbance between the self-tracking deviation and each degree of freedom motion of the workspace, The integrated trajectory tracking deviation of the expression. According to the feedback of the comprehensive deviation of working space, the robust controller is designed by the backstepping method so that the coupling deviation between the self-tracking deviations of each degree of freedom motion and the coupling deviation tends to zero at the same time, so as to limit the movement of degrees of freedom in the tracking process Inter-coupling interference. At the same time, taking into account the uncertainties of inertial parameters of the actual platform, the adaptive law of inertia parameters is deduced to improve the tracking accuracy of the system. The simulation results show that the proposed method can effectively reduce the degrees of freedom while keeping the tracking error of each degree of freedom motion stable while comparing with the traditional proportional-integral-derivative (PID) controller. The coupling interference between the movements deviates more effectively to improve the tracking performance of the platform.