Electronics Optics & Control, Volume. 27, Issue 10, 99(2020)
Coupling Analysis and Decoupling Control for a 2-DOF Parallel Stabilized Platform
The load-end power output of the 2-DOF cable driven stabilized platform is realized by parallel motors. The coupling characteristics of it make the design of the control system more difficult and restrict the improvement of its control quality. On the basis of kinematics analysis, a dynamic model is constructed by Lagrange method. Then based on the typical coupling structure, the coupling degree analysis and calculation of the Double Input Double Output (DIDO) coupling system are carried out. The principle of decoupling control is further analyzed, and a feed-forward compensation decoupling control strategy is proposed. Finally, simulation verification is carried out. The following conclusions are drawn from the study and calculation:1) The studied stability platform is essentially a DIDO coupling system with power coupling and position coupling, and the effect of position coupling is to harmonize the power coupling;and 2) The proposed feed-forward compensation decoupling strategy can decouple the power and position completely and achieve the desired control effect.
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LI Daquan, HONG Huajie, YANG Shuxun. Coupling Analysis and Decoupling Control for a 2-DOF Parallel Stabilized Platform[J]. Electronics Optics & Control, 2020, 27(10): 99
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Received: Sep. 30, 2019
Accepted: --
Published Online: Dec. 25, 2020
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