大射电望远镜精调Stewart平台非线性PID控制

为了实现大射电望远镜馈源指向跟踪系统精调Stewart 平台的高精度轨迹跟踪，针对
Stewart 平台的系统特点，基于机器人关节控制策略，设计了一种非线性PID 的Stewart 关
节调节器。该非线性PID 算法构造了增益参数关于误差信号的非线性拟合函数，算法能够同时保证响应速度快、超调量小以及自适应能力强的系统特性。通过建立平台的数学模型，进行了典型信号输出响应数值仿真。仿真结果验证了关节空间控制策略以及非线性PID 控制方法的可行性和有效性。
关键字: Stewart 平台；非线性PID；关节空间控制；轨迹跟踪
Abstract: In order to realize the high-precision tracking control of the stewart platform of the feed-supporting system for the square kilometers array(SKA), by considering the special system characteristics of the Stewart platform, based on the linkspace control strategy, a kind of nonlinear PID linkspace controller for the Stewart platform is designed. The nonlinear function is given by the nonlinear PID algorithm, and the algorithm can guarantee the system have the property of the fast response, a little over shot and strong self adaptive.The model of
the platform is constrated, and simulation of the typical signal output response is done. The effectiveness and feasibility of the linkspace control strategy and the non-linear PID controller are verified by the analyses and the results of the emulaton.
Key words: Stewart platform ; Nonlinear PID ; Linkspace control; Trajectory tracking