三轴转台的状态反馈解耦

摘要

为了解决三轴转台的非线性和耦合问题,根据其运动模式,建立了更为简洁的动力学模型.分析模型并从补偿柯式力的角度,提出用状态反馈抵消模型的非线性和耦合,给出无需加速度的状态反馈解耦算法.利用solidworks建立了转台的物理模型,然后利用cosmos/motion插件对模型进行运动学和动力学分析,并验证了所建模型的准确性和状态反馈解耦算法的有效性.%Based on the structure, a simpler dynamic model of three axis turntable is brought up. According tornthe model, a state feedback controller is raised to combat coupling and nonlinearity. The model and the decouplernalgorithm are proved to be accurate and effective by solidworks and cosmos/motion, which paves the way for furtherrnstudies.