六自由度运动平台液压伺服系统的建模与仿真

摘要

文章较为详细的介绍了六自由度运动平台的机构特点及应用.在平台控制总体设计的基础上完成了液压伺服系统的建模工作,在Matlab软件中对系统进行了仿真分析,将常规PID控制和基于神经网络算法的先进PID控制方法进行对比,仿真结果表明基于神经网络的PID控制方法对伺服系统具有良好的控制效果,同时也证明了电液伺服控制系统设计的合理性,将控制策略应用于样机平台,平台运行稳定,流畅.为平台控制的进一步改进和完善奠定了基础.%This paper describes the features of 6-DOF platform and its applications in detail. Complete the modeling of hydraulic servo system based on the overall control design. Then do the simulation analysis of conventional PID control in Matlab, and compare with the advaneed PID control based on neural network. Simulation results show that this method has good control effort, proved the correetness of servo control system design. Apply the control strategies to the prototype platform, the platform run smooth and stable. That set a good foundation to the further control of platform.