Research On Decoupling Control Of Stewart Platform Based On AMEsim

When debugging the hydraulic Stewart platform of a flight simulator.It is found that when the sinusoidal signal is input to any single degree of freedom of the platfor,the platform will move on other degrees of freedom besides the freedom of the input signal.Coupling phenomenon is generated.Coupling reduces the movement precision of the platform.The existence of hydraulic Stewart platform as a flight simulator driving system is the most important part of flight simulator.The motion accuracy of the platform directly affects the fidelity of flight simulator simulation.As a necessary tool for pilot training.The lower fidelity of flight simulator is,the easier it is for pilots to develop wrong operation habits and increase the probability of pilot accidents,and the more easily lead to pilot the wrong operation habit.Then increase the pilot the risk of accidents.Therefore,it is necessary to take measures to decouple the platform,namely,to reduce the coupling of the platform,so as to improve the motion precision of the platform.In order to reduce the coupling of the platform this text,the decoupling control strategy of the platform was simulated and the decoupling controller of the platform was designed.First,the hydraulic Stewart platform of the flight simulator was coupled to observe the coupling between the motion of each degree of freedom of the platform.The decoupling control strategy was studied for the large coupling output,and the decoupling controller was designed.Kinematics analysis was carried out on the platform,deduce the position inverse solution of the mathematical expressions,and put forward a kind of easy programming realization Newton-Ralph monson iterative algorithm for location attitude.Positive solutions platform dynamics equation was deduced with the Newton euler method The mathematical model of single channel electro-hydraulic position servo system is established.For laying the foundation of building the simulation model and research on control strategy in the furture.Later,due to design a high precision simulation model is the key to the simulation.According to the platform dynamics equation and the mathematical model of electro-hydraulic position servo system build the simulation model of flight simulator platform by AMESim.Then use this model is for coupling simulation,By comparing the simulation and experimental results,the AMEsim model of the platform has a high accuracy.Finally,in order to realize decoupling of the platform,PID decoupling control,fuzzy selftuning PID decoupling control and calculating torque decoupling control are adopted for the platform in turn.The control algorithm and the control strategy is given.In order to determine the controller parameters and test the controller decoupling effect,Simulink and AMEsim are used to establish the simulation model of the control system when the platform adopts the above three controllers.Using the form of co-simulation by Simulink and AMEsim.The parameters of each controller are determined and the three control strategies are tested to be able to decouple,namely,to reduce the platform coupling output The best decoupling effect is obtained by calculating torque decoupling control.