Accurate Tracking Control Strategy of Harmonic Motion of 6-DOF Motion Simulator

Due to the closed-loop amplitude and frequency response characteristics of the 6-DOF motion simulator, it´s difficult to achieve accurate track of high frequency harmonic motion. To solve the problem, this paper proposes a control strategy based on the Widrow-Hoff learning algorithm. It adopts the feedback configuration signal of the moving platform which is indirectly achieved by solving the forward kinematics of the 6-DOF motion simulator to quickly adjust the amplitude and frequency of input harmonic motion signal. Thus, it can make the output signal track the input signal with high precision in a short period of time. Experiments show that the control strategy is obviously superior to the conventional classic control strategy at tracking harmonic motion of the 6-DOF motion simulator. It also has universal significance to other precise tracking system of the harmonic motion.