Dynamic Simulation with PID –Type Constraint Stabilization for a 3-Rail 6-Leg Stewart Platform

Autor:	Chi-Ching Huang, 黃奇慶
Druh dokumentu:	學位論文 ; thesis
Popis:	93 The Stewart Platform can be used for flight simulators and applied to any mechanical systems which have higher stiffness, heavy load, and the capability of precise orientation such as measurement platform and motion platform. Recently, more and more researchers studied the Stewart Platform. The major purpose of this thesis is to discuss the constraint stability problem for dynamical simulation of a 3-rail and 6-leg Stewart platform, which is a multi-chain and multi-body mechanical system with kinematic constraints. The equations of motion of the Stewart platform are a set of mixed differential-algebraic equations and they are highly nonlinear. When performing dynamical simulation with direct integration methods, the constraint equations are unstable such that the simulation results are violating the given constraints. By utilizing PID-type constraint stabilization method, constraint equations become stable and, in consequence, the prescribed constraints will be fully satisfied.
Databáze:	Networked Digital Library of Theses & Dissertations
Externí odkaz:	http://ndltd.ncl.edu.tw/handle/18674403560809736598 Zobrazit plný text záznamu