基于D SP的电动六自由度运动模拟器位置伺服控制策略

摘要

Based on an analysis of the characteristics of present electric 6-DOF motion simulators,this paper implements a hinge space control over the platform based on inverse displacement,and introduces a novel DSP-based multi-level control structure.In the closed-loop control of the electric cylinder,it introduces a fuzzy feed-forward PID intelligent algorithm to improve real-time performance and dynamic control accuracy.Results of tests made on the platform based on the control algorithm and hardware controller show that this control strategy has a good real-time performance and high dynamic accuracy.%针对目前电动六自由度运动模拟器的特点，对平台进行了基于位姿反解算法的铰链空间控制，并介绍了一种新型的基于DSP的多级控制结构。在电动缸闭环控制中，引入模糊前馈PID智能算法，提高实时性与动态控制精度。基于控制算法与硬件器对平台进行试验，结果表明控制策略实时性好，动态精度高。