会议专题

Study on feedback control strategy of generalized load system

Different feedback control strategies of a generalized load, system are studied. Dynamics model of load simulator is built and properties of multidegrees of freedom (DOF) loading system are analyzed. Different control strategies based on leg space force loop (LSFL) and operation space generalized force loop (OSFL) are proposed respectively. Discussions of these two strategies on the convergence of steadystate error and spatial stiffness are carried out. Conclusions show that OSFL could ultimately converge to the desired generalized force while LSFL is more suitable for calculating real-time stiffness. Hybrid feedback control strategy is presented based on conclusions, simulation results prove that the controller decreases the steady-state error and is fit for real-time computing.

Generalized load simulation Parallel 6-DOF manipulator Spatial stiffness Error analysis Hybrid feedback

Lebin Wu Xuanyin Wang

The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China

国际会议

The Seventh International Conference on Fluid Power Transmission and Control(第七届流体传动与控制国际学术会议 ICFP 2009))

杭州

英文

494-497

2009-04-08(万方平台首次上网日期,不代表论文的发表时间)