The Simulation of Pose Control for Stewart Platform Based on Gain-Enhanced PID with Generalized Boolean Algebra
DOI:
https://doi.org/10.54097/b4vx7z64Keywords:
Generalized Boolean Algebra, Variable Gain PID, Simulink Simulation, Stewart PlatformAbstract
Due to the nonlinear and time-varying uncertainties commonly present in practical industrial systems, traditional PID controllers often fail to achieve optimal control performance under significant input variations. This paper proposes a gain-enhanced PID control method optimized by generalized Boolean algebra, applying Boolean algebraic logic control strategies to traditional PID control to improve parameter adaptability and real-time control performance. Using MATLAB/Simulink simulation tools, a dual-loop control simulation model is established for the Stewart platform, incorporating both conventional PID control and the gain-enhanced PID control optimized by generalized Boolean algebra. Both models are configured with identical PID parameters for simulation, and comparative experimental results are presented. The experimental results demonstrate that, in the Simulink simulation model of the Stewart platform's pose control system, the proposed gain-enhanced PID control system optimized by generalized Boolean algebra improves the dynamic performance and response speed compared to the traditional PID control system, enhancing the real-time performance and stability of the Stewart platform control.
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