Simulation research on PID_MRAC control of 6-DOF platform servo system
Authors: 
Ning Dong, Mingxin Liu, Zhen ChenAuthors Info & Claims
Article No.: 26, Pages 1 - 6
Abstract
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 single channel 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.
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Index Terms
- Simulation research on PID_MRAC control of 6-DOF platform servo system
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Published In
December 2016
358 pages
ISBN:9781450347990
DOI:10.1145/3028842
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- Jilin Institute of Chemical Technology: Jilin Institute of Chemical Technology, Jilin, China
- Wanfang Data: Wanfang Data, Beijing, China
- CNKI: CNKI, Beijing, China
- Airiti: Airiti, Taiwan
- Guilin: Guilin University of Technology, Guilin, China
- Wuhan University of Technology: Wuhan University of Technology, Wuhan, China
- Ain Shams University: Ain Shams University, Egypt
- International Engineering and Technology Institute, Hong Kong: International Engineering and Technology Institute, Hong Kong
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 23 December 2016
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ICIIP 2016
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- Jilin Institute of Chemical Technology
- Wanfang Data
- CNKI
- Airiti
- Guilin
- Wuhan University of Technology
- Ain Shams University
- International Engineering and Technology Institute, Hong Kong
ICIIP 2016: 2016 International Conference on Intelligent Information Processing
December 23 - 25, 2016
Wuhan, China
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ICIIP '16 Paper Acceptance Rate 55 of 165 submissions, 33%;
Overall Acceptance Rate 87 of 367 submissions, 24%
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