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首页> 外文会议>International Conference on Mechanical Engineering and Mechanics vol.1; 20051026-28; Nanjing(CN) >Robust Control for a Stewart Platform with Control Plant's Simplification by Lagrange and Newton-Euler Methods
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Robust Control for a Stewart Platform with Control Plant's Simplification by Lagrange and Newton-Euler Methods

机译：用Lagrange和Newton-Euler方法简化控制工厂的Stewart平台的鲁棒控制

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摘要

The complete dynamic of Stewart platform is very complex, which causes the fact there exists difficulties to design and implement advanced control. The focus of this work is to derive simple and well structured dynamic equations of the manipulator and corresponding robust tracking control with leg's inertia's effect taken into account. Firstly, as the Lagrange formulation is well structured and directly presents the dynamic equations in the canonical second order form, the upper platform's forward dynamic model is constructed by employing Lagrange method. Secondly, as the Newtonian formulation yields a more efficient procedure for computing the inverse dynamics of the Stewart platform, the leg inertia's effect is compensated by computing leg's inverse dynamic with Newton-Euler method. Finally, a robust control based on the compensated dynamic model is presented to guarantee a practical stability. The main advantage is the control plant is simple and well structured so that it could be avoided to construct the complex dynamic of the whole platform, and the advanced control is easier to design and realize. The performance for the proposed algorithm is verified by simulation.
机译：Stewart平台的完整动态非常复杂，这导致设计和实现高级控制存在困难。这项工作的重点是在考虑腿的惯性影响的情况下，得出机械手的简单且结构良好的动力学方程式以及相应的鲁棒跟踪控制。首先，由于拉格朗日公式结构良好，并以典型的二阶形式直接表示动力学方程，因此采用拉格朗日方法构造了上层平台的正向动力学模型。其次，由于牛顿公式为计算Stewart平台的逆动力学提供了更有效的程序，因此通过用牛顿-欧拉方法计算腿的逆动力学可以补偿腿的惯性效应。最后，提出了一种基于补偿动态模型的鲁棒控制，以保证实用的稳定性。主要优点是控制工厂简单且结构良好，从而避免了构建整个平台的复杂动态过程，并且高级控制易于设计和实现。仿真结果验证了所提算法的性能。

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