Architecture of predictive control for a Stewart platform manipulator

Abstract

This paper presents the elaboration of a comprehensive Matlab-Simulink TM virtual environment of a Stewart platform. This simulation tool includes the kinematic and dynamic modeling of the platform, along with the control loops of the actuators and coupled to a trajectory generation module, it also offers complete visualization features through a dedicated graphic user interface. This simulator was modularly designed following open architecture principles, with plug and play modules allowing a global kinematics, dynamics and control of the machine integral analysis. The first part of the paper focuses on the features of this simulator, by describing the different available models and tools. Based on this computeraided control system design environment, then the second part develops a comparison between two different control strategies, on the one hand, the classical PID joint control structure and on the other hand, the Generalized Predictive Control (GPC) strategy. Finally, the virtual environment provides time domain results and performance comparison, in addition the spatial tracking error and the disturbance reaction are analyzed for both controllers, showing better accuracy with the GPC one.

Real Coded Mixed Integer Genetic Algorithm for Geometry Optimization of Flight Simulator Mechanism Based on Rotary Stewart Platform

“…Besides physical experiments, for research and verification, it is very useful to do computer-based simulations. In paper [64], computer-aided design (CAD) software is used for visualization of the workspace, while papers [65,66] presented simulation environments for this type of mechanism.…”

Design and Control of a Three-Axis Motion Servo Control System Based on a CAN Bus

“…where R y and R z are represented as rotation matrices for the pitch and yaw axes. Substituting Equation (19) into Equations ( 16) and ( 17), one can obtain…”

Design and Implementation of Inverse Kinematics and Motion Monitoring System for 6DoF Platform

“…By that time, most kinematics problems related to the general type of 6DoF Stewart platform had been resolved. Studies after 2010 have generally addressed means of controlling parallel architectures, such as artificial neural network control [10], and predictive control [11][12][13]. Studies after 2010 have also explored numerical solutions.…”

“…The majority of simulators have been designed based on the 6DoF structure of the Stewart platform [5][6][7][8][9][10][11][12][13][14][15][16][17], which uses linear actuators to achieve a 6DoF overall movement. However, the need to use six linear actuators is expensive.…”

“…The software offers functions such as sampling settings, impulse response display, real-time display of measured values, and log file reading and sending. To the best of our knowledge, the ideas we mention have not been presented in previously published papers [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18]. As a result, this paper presents some new ideas on the implementation of motion control systems, including an adjustable speed control system and a middle-distance stroke control system.…”