Anti-Swaying Control Strategy of Ship-Mounted 3-RCU Parallel Platform Based on Dynamic Gravity Compensation
Zhiyuan Lv,
Pengfei Liu,
Donghong Ning
et al.
Abstract:It is essential to ensure stability during marine transportation or the installation of high center of gravity loads. The heavy loads increase gravity disturbance, affecting the steady-state-error control of the multiple degrees of freedom (DOFs) motion compensation platform. In this paper, we propose a proportional derivative (PD) controller with dynamic gravity compensation (PDGC) for a 3-RCU (revolute–cylindrical–universal) parallel platform to improve the control effect of marine motion compensation for hi… Show more
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