Application of the amplitude-phase control strategy in a 6-DOF motion simulator

作者：Ma Jian Ming^*; Huang Qi Tao; Cong Da Cheng; Ye Zheng Mao; Han Jun Wei

来源：Journal of Harbin Engineering University, 2008, 29(11): 1216-1221.

• 6-DOF motion simulator
• Accurate tracking
• Amplitude-phase control strategy
• Conventional controls
• Feedback signals
• Forward kinematics
• Frequency response characteristics
• Harmonic motions
• High frequencies
• Input signals
• Moving platforms
• Nonlinear factors
• Output signals
• Short periods
• Widrow-Hoff learning algorithm

Due to closed-loop amplitude and frequency response characteristics and nonlinear factors in 6-DOF motion simulators, it';s difficult to accurately track high frequency harmonic motion. To solve the problem, this paper proposes a control strategy based on the Widrow-Hoff learning algorithm. It adopts the feedback signals of position and orientation of the moving platform, which is indirectly achieved by solving the forward kinematics of the 6-DOF motion simulator, to quickly adjust the amplitude and phase of the input harmonic motion signals. Thus, it can enable the output signal to accurately track the input signal in a short period of time. Simulations and experiments prove that the control strategy is obviously superior to the conventional control strategy in tracking harmonic motion of 6-DOF motion simulators. It also has universal significance to other systems that must precisely track harmonic motion.

• 出版日期2008