中文摘要：

针对一种新型6自由度运动平台的控制问题，提出基于改进型自抗扰控制器的高性能轨迹跟踪控制算法。采用基于运动学的控制方法对6自由度运动平台进行控制研究，利用参考加速度前馈量对常规自抗扰控制器进行改进，在Matlab／Simulink中进行仿真研究，分析经典比例积分微分控制器、常规自抗扰控制器和改进型自抗扰控制器对正弦轨迹的跟踪性能及其对系统参数变化和外部扰动的抑制能力，并构建基于dSPACE的运动控制试验系统。对比仿真和试验结果表明，改进型自抗扰控制器能有效提高轨迹跟踪精度，使新型6自由度运动平台较好地实现给定的目标运动。

英文摘要：

To solve the control problem of a novel 6-DOF motion platform, a high performance trajectory tracking control strategy based on modified active disturbance rejection controller is proposed. Kinematics-based control method is adopted to analyze the 6-DOF motion platform, and a reference acceleration feedforward is added to modify the conventional active disturbance rejection controller. Simulation researches are implemented in Matlab/Simulink. Tracking errors for sinusoidal trajectory with parameter variations and external disturbances of classical proportional integral derivative controller, conventional active disturbance rejection controller and modified active disturbance rejection controller are analyzed, and motion control experiment system is constructed based on dSPACE. Comparative simulations and experimental results demonstrate the effectiveness of the proposed modified active disturbance rejection controller, and the novel 6-DOF motion platform can realize the desired motion well.