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Repetitive Control of 6 Degree-of-freedom Platform Based on Modal Space Coordinate Transformation

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DOI: 10.23977/icmee.2019.2755


Chenyang Zhang, Hongzhou Jiang

Corresponding Author

Chenyang Zhang


The parallel electro-hydraulic 6 degree-of-freedom platform is widely used in the simulation of flight, navigation and vehicle driving motion. With the needs of applications, the requirements for low-speed and stable running performance and good dynamic trajectory tracking accuracy are becoming higher and higher. When the platform moves at low speed, the multi-input, multi-output strongly coupled nonlinear system and the dry friction force are the main factors that cause the platform's motion trajectory and input signals to not completely coincide. However, when the platform moves at a low speed, it can be considered that the platform moves periodically stably, and the interference also repeats periodically. Aiming at this property, a repetitive control strategy based on modal space coordinate transformation is proposed to improve the low-speed motion characteristics of the platform in this paper. First, the coupled dynamics of the six-degree-of-freedom platform is decomposed, and then a repetitive controller is designed for each independent modal direction of the transfer function. The simulation results show that repetitive control has better control effect.


Repetitive Control, Modal Space, 6 Degree-of-freedom Platform

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