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Simulation research on PID_MRAC control of 6-DOF platform servo system

To improve the performance of the 6-DOF platform, this paper proposes a novel method developed from Narendra Model Reference Adaptive Control (Narendra MRAC) and PID. MRAC is used as the inner control circuit and introduces PD link to improve the performance of the initial stage control. The PID control is used as the outer control circuit to improve the dynamic characteristic of the system, and eliminates the steady state error. With the strongly coupled, nonlinear and strong interference characteristics of 6-DOF platform system driven by electric cylinders, the single channel model of 6-DOF platform is established. Then, the 6-DOF platform system control is implemented by combining the Narendra MRAC and PID. Finally, the simulation results demonstrate that the proposed method has higher accuracy and capability of anti-interference than the traditional method.