Model-based control of a 6-dof electrohydraulic Stewart-Gough platform

被引：68

作者：

Davliakos, Ioannis ^{[1
]}

Papadopoulos, Evangelos ^{[1
]}

机构：

[1] Natl Tech Univ Athens, Dept Mech Engn, Athens 15780, Greece

来源：

MECHANISM AND MACHINE THEORY | 2008年 / 43卷 / 11期

关键词：

Stewart platform; hydraulic servomechanisms; parallel mechanisms; model-based control;

D O I：

10.1016/j.mechmachtheory.2007.12.002

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, a novel model-based controller for a six Degree-of-Freedom (dof) electrohydraulic Stewart-Gough platform is developed. Dynamic models of low complexity are employed that describe the salient dynamics of the main electrohydraulic components. Rigid body equations of motion and hydraulics dynamics, including friction and servovalve models are used. The developed feedback controller uses the system dynamic and hydraulic model to yield servovalve currents, so that the error dynamics converge asymptotically to zero, independent of load variations. In this approach, force, pressure or acceleration feedback is not required. Simulations with typical desired trajectory inputs are presented and a good performance of the controller is obtained. The proposed methodology can be extended to electrohydraulic serial or closed-chain manipulators and simulators. (C) 2007 Elsevier Ltd. All rights reserved.

引用

页码：1385 / 1400

页数：16

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