Research on the Dynamics Analysis and Sliding Mode Control Strategy of Large Load Swinging Platform Based on Redundant Drive

In this paper, a two-degree-of-freedom redundantly driven parallel swing platform that can carry large loads is studied to improve the load carrying capacity of the swinging platform. Firstly, the mathematical modeling and dynamics analysis of the swinging platform are carried out, and the load carrying force of the hydraulic cylinder of each branch chain during the motion is obtained by the least two-norm solution method. Further, a sliding mode controller is designed for the hydraulic cylinders in the swinging platform chain, and the stability of the controller is analyzed. Finally, a simulation system is built in Simulink to simulate the designed sliding mode controller, and the results show that the actual displacement of the hydraulic cylinder piston tracks the desired displacement very well, and the designed sliding mode controller can satisfy the requirements of the control accuracy of the swinging platform servo system studied in this paper.