六自由度平台

用simulink进行的六自由度平台的仿真。

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%   Multivariable controller synthesis for the Stewart platform.            % 
%                                                                           %
%                 Authors（s） G.W. Wood and J.M. Wendlandt                   %
%                                                                           %
%                     Copyright The MathWorks Inc.                         %
%                                                                           %
%   This m-script synthesises a robust multivariable controller for         % 
%   the linearized plant model of the Stewart platform. The                 %
%   synthesis procedure makes use of the H_infinity loopshaping             %
%   design procedure originating in （1） and is closely related to           %
%   the notion of achieving optimal robustness in the gap metric            %
%   （2）. All commands are standard commands in the Mu-Tools toolbox.        %
%                                                                           %
%   （1） K.Glover and D.C McFarlane. Robust stabilization of normalised      %
%   comprime factor plant descriptions with H_infinity bounded              %
%   uncertainty. IEEE Trans. on Automatic Control34:821-830 1989.          %
%                                                                           %
%   （2） T.T. Georgiou and M.C. Smith. Optimal robustness in the gap         %
%   metric. IEEE Trans. on Automatic Control35（6）:673-687 1990.           %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Linearization.
sim（‘StewartPlatformEquilibrium‘）; nomForces = Forces‘; % Extract the equilibrating forces. 
[ABCD] = linmod（‘StewartPlatformPlant‘[]nomForces）; % Linearize the model about the equilibrium configuration.
[ABCD] = minreal（ABCD）; % Obtain a minimal realization of the linearized model.

% Synthesis.
Kv = daug（-Kd-Kd-Kd-Kd-Kd-Kd）; % Introduce velocity feedback.
P = pck（A[B B]C[D D]）; % Pack the state matrices into a model.
P = starp（PKv66）; % Close the velocity feedback loop.

w = logspace（-13100）;
W1 = nd2sys（[Kp Ki][1 0]10）; % Loopshaping weight with integral action.
W = daug（W1W1W1W1W1W1）; % Apply the same weight to each channel.
Pw = mmult（PW）; % Multiply the nominal plant and the loopshaping weight.

wg = frsp（Pww）;
vplot（‘livlm‘vsvd（wg））; % Plot the shaped frequency response to check crossover frequency etc.

[syskemaxsysobs] = ncfsyn（Pw1.1‘ref‘）; % Synthesis an optimal loopshaping controller.
[AkBkCkDk] = unpck（sysk）; % Unpack the state matrices for the controller.
[AwBwCwDw] = unpck（W）; % Unpack the state matrices for the weight.

% Compute DC gain equalization matrix.
[ApBpCpDp] = unpck（Pw）; % Unpack the state matrics of the weighted plant
Pwn = pck（ApBp[Cp;Cp][Dp;Dp]）; % Augment the weighted plant.
cl = starp（Pwnsysk66）; % Introduce the feedback controller.
[AB

 属性            大小     日期    时间   名称
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     文件       1526  2016-09-01 11:00  StewartPlatform\license.txt

     文件      15088  2016-09-01 11:00  StewartPlatform\StewartControllers.mdl

     文件       3259  2016-09-01 11:00  StewartPlatform\StewartMVController.m

     文件     361124  2017-12-14 21:23  StewartPlatform\StewartPlatform.mdl

     文件     181152  2017-12-13 14:33  StewartPlatform\StewartPlatform.mdl.original

     文件      86826  2016-09-01 11:00  StewartPlatform\StewartPlatform.mdl.r13

     文件      23037  2016-09-01 11:00  StewartPlatform\StewartPlatform.txt

     文件      25576  2016-09-01 11:00  StewartPlatform\StewartPlatformEquilibrium.mdl

     文件       7128  2016-09-01 11:00  StewartPlatform\StewartPlatformHinf.mat

     文件      14549  2016-09-01 11:00  StewartPlatform\StewartPlatformLegEquilibrium.mdl

     文件      33205  2016-09-01 11:00  StewartPlatform\StewartPlatformPlant.mdl

     文件       3752  2017-12-13 15:31  StewartPlatform\StewartPlatformSetup.m

     文件     104235  2017-12-09 11:18  StewartPlatform\__Previews\StewartPlatform.mdlPreview

    ...D.H.         0  2017-12-12 16:10  StewartPlatform\__Previews

     目录          0  2017-12-14 21:23  StewartPlatform

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