史都華平台之加速度控制研究

The Research of Acceleration Control for the Stewart Platform

陳勇呈(Yung-Cheng Chen)

指導教授 ： 鄒忠全

共同指導教授 ： 吳向宸(Shang-Chen Wu)

崑山科技大學/工程學院/機械工程研究所/碩士(2010年)

https://doi.org/10.6828/KSU.2010.00048

摘要

本論文研究目的是針對史都華平台的加速度控制，設計一個理想的加速度控制器，以精確的表現出期望的加速度，將駕駛車輛時車輛動態給予人體實際的感受，透過這樣的一個模擬平台呈現出來。
本研究利用在商業模擬訓練器上最廣泛使用的傳統型沖淡濾波器，將想要的平台加速度轉換成六個自由度的位移量，透過史都華平台的逆向運動學，將六個自由度的位移量轉換成六支致動器支柱的位移量，再利用依據活動平台與致動器支柱的動力學分析，利用Lyapunov定理證明系統的穩定性，而設計出的順滑模態控制器，來對史都華平台做位置控制，藉此將想要的加速度感重現出來。
本研究使用MATLAB/Simulink軟體撰寫控制器和史都華平台的模擬程式，進行史都華平台加速度運動的模擬分析。在實驗部份使用LabVIEW圖形化程式開發界面搭配PXI及其模組化儀器，將運動控制器實現。運動控制器利用馬達上的編碼器所提供的位置作為回授信號，使活動平台能更精確地將運動軌跡呈現出來，並在活動平台中央處設置一陀螺儀，用以直接測量活動平台產生的加速度量。最後依據實驗的結果，進行控制結果的探討。

關鍵字

史都華平台 ； 加速度控制 ； 沖淡濾波器

並列摘要

Purpose of this study is the acceleration control for the Stewart platform. Design an ideal controller to accurately show the expected acceleration, The driving vehicles to give the feeling of the actual human body, through such a simulation platform to show up.

This paper use the business simulation training device most widely used traditional Washout Filter to the desired acceleration platform into the six degrees of freedom of displacement, using inverse kinematics to convert the displacement of six degrees of freedom into the six pillars of the actuator displacement, and using Sliding mode controller to control the platform position, and then acceleration sense will be presented.

The simulation program for the Stewart Platform and the controller is written by using MATLAB/Simulink package software. Then the position analysis of the Stewart Platform is preceded using the simulation results. In the experiment, using the LabVIEW graphical programming development interface with PXI modular instruments to exercise the controller.

The Motion controller use the encoder on the motor provides feedback signal to the position as a platform to more accurately presents the trajectory. The gyroscope is installed at the central platform, it then will measure the acceleration when generated.

Finally, according to accumulated datum and analysis from the experiment, this paper will discuss in depth on Controller performance of.

並列關鍵字

Stewart platform ； Acceleration Control ； Washout Filter

參考文獻

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