关键词: 改进型自抗扰控制器;6自由度运动平台;轨迹跟踪;运动学

Abstract: To solve the control problem of a novel 6-DOF motion platform, a high performance trajectory tracking control strategy based on modified active disturbance rejection controller is proposed. Kinematics-based control method is adopted to analyze the 6-DOF motion platform, and a reference acceleration feedforward is added to modify the conventional active disturbance rejection controller. Simulation researches are implemented in Matlab/Simulink. Tracking errors for sinusoidal trajectory with parameter variations and external disturbances of classical proportional integral derivative controller, conventional active disturbance rejection controller and modified active disturbance rejection controller are analyzed, and motion control experiment system is constructed based on dSPACE. Comparative simulations and experimental results demonstrate the effectiveness of the proposed modified active disturbance rejection controller, and the novel 6-DOF motion platform can realize the desired motion well.

Key words: modified active disturbance rejection controller;6-DOF motion platform;trajectory tracking;kinemati