Analysis on response characteristics of 6-DOF platform and its simulation with AMESim

XIE Yuan-dang1， LI Wei-jia2
（1. School of Electrical Engineering， Zhejiang Ocean University， Zhoushan 316004， China；
  2. College of Marine Engineering， Huazhong University of Science and Technology， Wuhan 430074， China）

Abstract： In order to solve the unstable problems in hydraulic servo system due to some uncertain factors（load disturbance，etc.），an experimental prototype on a hydraulic motion platform with six degrees of freedom in a servo system was studied. A robust control strategy for dynamic pressure output back-off was put forward by analyzing dynamic response characteristics in the servo system and simulating with AMESim. The results show that， using this method， a better robustness is obtained under a larger disturbance，and the response bandwidth meets the design requirement which will ensure the response speed and accuracy of the platform motion.
Key words：six degrees of freedom；hydraulic servo；AMESim；H∞ control strategy