Simulation and PID control of a Stewart platform with linear motor
Simulation and PID control of a Stewart platform with linear motor
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DOI：
10.1007/s12206-016-1238-7
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发表时间：
2017-01
影响因子：
1.6
通讯作者：
Ahmet Şumnu;Ibrahim H. Güzelbey;M. Çakır
中科院分区：
文献类型：
--
作者：
Ahmet Şumnu;Ibrahim H. Güzelbey;M. Çakır
本文对直线电机驱动的Stewart平台进行了运动学分析、动力学分析、仿真和控制。利用逆运动学方法推导了速度和加速度方程。采用拉格朗日方程和牛顿-欧拉方程进行动力学分析。特别是在动力学分析中，考虑了下肢的惯性。根据运动平台的规划轨迹，使用MATLAB计算每个致动器所需的力。对有无腿下半部分惯性作用的系统进行了动力学仿真。动力学仿真结果表明，腿的下部惯性的影响是重要的，以获得更准确的结果。利用MATLAB/Simulink对Stewart平台进行PID控制。推导了直线电机的传递函数，并在Simulink中给出了直线电机的框图。最后，案例研究进行了验证所开发的控制系统。
In this study, kinematic analysis, dynamic analysis, simulation and control of Stewart platform with linear motor are presented. Using inverse kinematic method velocity and acceleration equations are derived. Lagrange and Newton-Euler equations are used to carry out dynamic analysis. Especially, in dynamic analysis, the lower part of leg inertia is taken into account. The required forces for the each actuator are calculated using MATLAB according to planned trajectories of the moving platform. Dynamic simulation of the system is presented both with and without inertial effect of the lower part of leg. Results of the dynamic simulation show that the effect of the lower part inertia of leg is important to obtain more accurate result. PID control of Stewart platform is performed using MATLAB/Simulink. Transfer function of the linear motor is derived and block diagram is obtained in Simulink. Finally, case studies are performed to verify the developed control system.