| In this thesis, six degree of freedom U-T suspension platform as the research object.According to the characteristics of suspended platform, such as position deviation and coupling deviation which are produced by interference, the method of fuzzy control and cross decoupling control are put forward to improve the stability and rapidity of the performance of the system.Firstly, the basic principle of electromagnetic loop was summarized. Combining with operational principle, it is analyzed that the electromagnetic loop of U-T suspended platform, and the parameter relationship of rotor and stator. And on this basis the mathematical model of ideal suspended platform is established. Matlab simulation and analysis through verified the correctness of the method.Secondly, as the suspended platform in six degrees of freedom have suspended and motion of two different status. According to the different movements, in this paper, two schemes are proposed. Fuzzy controller based on T-S model and cross-coupling controller are adopt. The state of suspension is influenced by the Z-axis. When disturbed the system will produce deviation, At this point, a novel fuzzy logic controller based on T-S model is proposed for the Z-axis. The X-Y plane mainly influences the motion state. T-rotor is connected by three suspension points. But it may be the change of gap parameters for the disturbance from outside environments, and If the relevant parameters are unsuitably selected, the cross coupling problem will arise. The range of error was mainly due to the move of suspended platform caused by the change in speed, the cross decoupling control method was used in the system as the control strategy.Finally, the Proteus software is a large simulation software, and presents the development trend of system simulation software. The hardware design insists of circuit module such as, SCM and I/O device; the software design insists of PC and MCU programming. The results of simulation have been examined by Proteus. |
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