六軸史都華平台致動腳之參考模式設計

The Reference Model Design for the Actuation Leg of Stewart Platform

魏榮輝(Jong-Hwei Wei) ； 徐博詩(Po-Shih Hsu)

《先進工程學刊》 2卷4期 (2007/10) Pp. 197-203

https://doi.org/10.29948/JAE.200710.0002

摘要

本文以六軸史都華平台的逆向運動學理論配合PID控制器及Matlab/Simulink軟體建立一個用於採用適應性控制法則的史都華平台致動腳之參考模式，以改善史都華平台致動腳閉迴路控制之性能，其目的希望史都華平台致動腳在史都華平台姿態變動時，可以利用適應性控制法則使六個致動腳追蹤參考模式，令史都華平台獲得精確且快速穩定之反應。本文建構之參考模式係具PID控制器之閉迴路控制系統，使史都華平台致動腳之控制性能（暫態響應之最大超越量與上升時間與穩態響應之穩態誤差）達到所需規格。

關鍵字

史都華平台 ； 參考模式 ； 逆向運動學

並列摘要

In this paper, the inverse kinematics of the Stewart platform with the Matlab/Simulink software are used to derive the reference input of the reference model. The reference model of the actuation leg of Stewart platform is chosen to improve the uncertainty of the classical PID controller under the disturbances. The goal of the actuation leg of Stewart platform is that the system has the faster and more stable response when the controlled system can be followed the reference model. The reference model of the actuation leg of Stewart platform is chosen as a closed-loop system with PID conpensator to achieve the requirement performances of control system, for example, the transient responses (the maxinum overshoot and the rise time) and the steady-state response (steady-state error).

並列關鍵字

stewart platform ； reference model ； inverse kinematics