Liangzong Zhang, Tao Yang, Yun Wu, Tao Tang. Image measurement-based two-stage control of Stewart platform[J]. Opto-Electronic Engineering, 2022, 49(8): 220019
- Opto-Electronic Engineering
- Vol. 49, Issue 8, 220019 (2022)
Fig. 1. System schematic
Fig. 2. Traditional two-stage control system
Fig. 3. Improved two-stage control system
Fig. 4. Closed loop system of the coarse stage
Fig. 5. Frequency response curve of the Stewart platform
Fig. 6. Closed loop system of the fine stage
Fig. 7. Integral controller and pi-pi control error suppression curve simulation diagram
Fig. 8. Experimental diagram of the two-stage system
Fig. 9. The error suppression curve of the PI and PI-PI controller is compared
Fig. 10. The two-stage system experiment. (a) f=0.05 Hz; (b) f=0.80 Hz
Fig. 11. The process of unloading quantization in two-stage control
Fig. 12. The tracking error of single-order structure and two-step structure is compared. (a) 0.01 Hz；(b) 0.02 Hz；(c) 0.05 Hz
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Table 1. RMS comparison of tracking errors between single-order structure and double-order structure at three frequencies
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