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
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）