Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 1216-1221 |
| Number of pages | 6 |
| Journal | Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University |
| Volume | 29 |
| Issue number | 11 |
| State | Published - Nov 2008 |
| Externally published | Yes |
Keywords
- 6-DOF motion simulator
- Accurate tracking
- Amplitude-phase control strategy
- Widrow-Hoff learning algorithm