Six degree of freedom Stewart platform fuzzy PID control

A motion control algorithm is proposed to address the issue of low positioning accuracy in a six-degree-of-freedom platform due to mechanical wear and other factors. Initially, the forward and inverse kinematics of the platform are analyzed, and a nonlinear dynamic model is established. Taking into account the elliptical trajectory error caused by electric cylinder wear, a fuzzy PID control algorithm is suggested. Subsequently, physical development is conducted using components such as an electric cylinder, programmable logic controller, servo driver, and motor, with the control system design completed alongside a PC. Finally, both algorithm simulation and physical experiments are performed, confirming the efficacy of the proposed algorithm through comparison with traditional PID methods. Experimental results demonstrate significant improvements in platform control accuracy and overall equipment sensitivity, offering valuable insights for precision instrument design in engineering applications.