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Research on Control System and Its Parameters Tuning of Stewart Platform

Author: GongQuanYi
Tutor: NiYanBing
School: Tianjin University
Course: Mechanical Manufacturing and Automation
Keywords: Stewart platform Kinematics analysis System simulation Design of control system Debugging of PID parameters
CLC: TP242
Type: Master's thesis
Year: 2008
Downloads: 129
Quote: 1
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Abstract


The dissertation deals with some key issues relevant to the design of control system for a Stewart platform. A new PID debug method is rasied in this resarch. Meanwhile, virtual prototype, complete kinematics, dynamic simulation and of Co-Simulation of PID control are built up. The work and the results can be summarized as follows:Kinematics analysis. The vector method is used to establish kinematic model, and the inverse of position, velocity and acceleration are achieved, the positive of position is received using Newton-Raphson iteration method. This meets the real-time requirements.Virtual prototype is established, and the kinematic and dynamic simulation is done. According to the simulation results, the parameters of servo motor can be determined. Meanwhile, the parameters of PID can be determined by the Co-Simulation.Design of control system includes two parts: hardware and software. For the hardware part, main circuit, control circuit and interface circuit are designed. For the software part, interface and various function modules for the control program is made using LABVIEW.Research on debugging the PID parameters has been done. Put forward the relationship of PID parameters and controlling system. And this method has been validated by the experiment.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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