TY - GEN
T1 - Simulation research on PID-MRAC control of 6-DOF platform servo system
AU - Dong, Ning
AU - Liu, Mingxin
AU - Chen, Zhen
N1 - Publisher Copyright:
© 2016 ACM.
PY - 2016/12/23
Y1 - 2016/12/23
N2 - To improve the performance of the 6-DOF platform, this paper proposes a novel method developed from Narendra Model Reference Adaptive Control (Narendra MRAC) and PID. MRAC is used as the inner control circuit and introduces PD link to improve the performance of the initial stage control. The PID control is used as the outer control circuit to improve the dynamic characteristic of the system, and eliminates the steady state error.With the strongly coupled, nonlinear and strong interference characteristics of 6-DOF platform system driven by electric cylinders, the singlechannel model of 6-DOF platform is established. Then, the 6-DOF platform system control is implemented by combining the Narendra MRAC and PID. Finally, the simulation results demonstrate that the proposed method has higher accuracy and capability of anti-interference than the traditional method.
AB - To improve the performance of the 6-DOF platform, this paper proposes a novel method developed from Narendra Model Reference Adaptive Control (Narendra MRAC) and PID. MRAC is used as the inner control circuit and introduces PD link to improve the performance of the initial stage control. The PID control is used as the outer control circuit to improve the dynamic characteristic of the system, and eliminates the steady state error.With the strongly coupled, nonlinear and strong interference characteristics of 6-DOF platform system driven by electric cylinders, the singlechannel model of 6-DOF platform is established. Then, the 6-DOF platform system control is implemented by combining the Narendra MRAC and PID. Finally, the simulation results demonstrate that the proposed method has higher accuracy and capability of anti-interference than the traditional method.
KW - 6-DOF Platform
KW - Narendra MRAC
KW - PID
KW - Singlechannel model
UR - http://www.scopus.com/inward/record.url?scp=85015709731&partnerID=8YFLogxK
U2 - 10.1145/3028842.3028868
DO - 10.1145/3028842.3028868
M3 - Conference contribution
AN - SCOPUS:85015709731
T3 - ACM International Conference Proceeding Series
BT - Proceedings of the 2016 International Conference on Intelligent Information Processing, ICIIP 2016
PB - Association for Computing Machinery
T2 - 2016 International Conference on Intelligent Information Processing, ICIIP 2016
Y2 - 23 December 2016 through 25 December 2016
ER -