Stewart并联机构液压系统控制策略的分析与研究

摘要

Stewart并联机构存在多种驱动方式,不同驱动方式其控制性能亦具有很大的区别.在针对Stewart并联机构进行结构分析的基础上,完成液压系统控制策略的分析与研究,运用AMESIM液压分析软件完成并联机构液压控制系统的搭建,采用PID控制与H∞鲁棒控制策略并行连接,针对已求解的阀控缸控制系统的传递函数应用,得到液压缸伸缩杆位移曲线的变化,用于判断两种控制策略的优越性.结果显示在同频率阶段,H∞鲁棒控制的跟随效果优于PID控制.%The control performance of the Stewart parallel manipulator differs greatly depending on the so many different drive modes.Based on the structure analysis of the Stewart parallel mechanism, the control strategy of the hydraulic system has been analyzed and researched.The hydraulic control system of the parallel mechanism was built by AMESIM hydraulic analysis software, and connect-ed in parallel by the Proportion Integral Derivative ( PID) control and the H∞robust control strategy.The solved transfer function of the valve-controlled cylinder control system was applied to determine the superiority of the two control strategies by obtaining the varied dis-placement curve of the telescopic rod of the hydraulic cylinder.The results show that the tracking effect of H∞ robust control is better than PID control in the same frequency stage.