A Controller Design of the Stewart Platform Using Generalized Inverse

• Main Authors: Jia-Liang Guo, 郭家良
• Other Authors: Nan-Jou Lin
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/30311906368003958655

碩士 === 逢甲大學 === 自動控制工程所 === 92 === The Stewart Platform can be used for flight simulators and applied to any mechanical systems which have higher stiffness, heavy load, and the capability of precise orientation such as measurement platform and kinetic platform. Recently, more and more researchers studied the Stewart Platform. The objective of this thesis is to design a controller utilizing generalized inverse for the purpose of controlling the motion of the Stewart platform. First, we divide the Stewart Platform into two parts：（1） feedforward controller and （2） feedback controller. The input signals of feedforward controller are reference commands computed by inverse dynamics to find the force of actuator of Stewart Platform. We use the PID control to form the feedback controller and get the better control capabilities by adjusting the Kp, Ki and Kd. Because the weighting matrix of the kinetic function and the controller are under different space, we must transfer the weighting matrix. The non-square matrix occurred during the transformation is not suitable for the use of the nominal inverse matrix. In this thesis, we use the generalized inverse matrix to find the weighting matrix and to make the controller have good control capability.