為了實現大射電望遠鏡饋源指向跟蹤系統精調Stewart 平臺的高精度軌跡跟蹤，針對
Stewart 平臺的系統特點，基于機器人關節控制策略，設計了一種非線性PID 的Stewart 關
節調節器。該非線性PID 算法構造了增益參數關于誤差信號的非線性擬合函數，算法能夠同時保證響應速度快、超調量小以及自適應能力強的系統特性。通過建立平臺的數學模型，進行了典型信號輸出響應數值仿真。仿真結果驗證了關節空間控制策略以及非線性PID 控制方法的可行性和有效性。
關鍵字: Stewart 平臺；非線性PID；關節空間控制；軌跡跟蹤
Abstract: In order to realize the high-precision tracking control of the stewart platform of the feed-supporting system for the square kilometers array(SKA), by considering the special system characteristics of the Stewart platform, based on the linkspace control strategy, a kind of nonlinear PID linkspace controller for the Stewart platform is designed. The nonlinear function is given by the nonlinear PID algorithm, and the algorithm can guarantee the system have the property of the fast response, a little over shot and strong self adaptive.The model of
the platform is constrated, and simulation of the typical signal output response is done. The effectiveness and feasibility of the linkspace control strategy and the non-linear PID controller are verified by the analyses and the results of the emulaton.
Key words: Stewart platform ; Nonlinear PID ; Linkspace control; Trajectory tracking