Abstract: A control method for converting time-varying system into a time-invariant system, comprises: using (n?1)th to 0th order signals of an nth-order time-varying, system as feedback to set up a closed loop control for the time-varying system; acquiring real-time values of the coefficients in each order of the time-varying system through a sensor, and calculating variations between the real-time values and the initial values of the coefficients in each order through a controller; amplifying and summing the parameters of every order to obtain a measured disturbance; inputting the measured disturbance, a control signal from a controller and an nth-order signal into an extended state observer through to estimate the rest disturbance; summing up the measured and estimated disturbances to obtain total disturbances; and adjusting the above parameters in each order through the controller to convert the time-varying system into the tune-invariant system.

Abstract: A control method for converting time-varying system into a time-invariant system, comprises: using (n?1)th to 0th order signals of an nth-order time-varying, system as feedback to set up a closed loop control for the time-varying system; acquiring real-time values of the coefficients in each order of the time-varying system through a sensor, and calculating variations between the real-time values and the initial values of the coefficients in each order through a controller; amplifying and summing the parameters of every order to obtain a measured disturbance; inputting the measured disturbance, a control signal from a controller and an nth-order signal into an extended state observer through to estimate the rest disturbance; summing up the measured and estimated disturbances to obtain total disturbances; and adjusting the above parameters in each order through the controller to convert the time-varying system into the tune-invariant system.

Abstract: The present invention also discloses a multi-DOF (Degree of Freedom) large-stroke high-precision motion platform system using the guide mechanism. A large load-bearing guide mechanism comprises: a rigid frame for generating a large-stroke displacement to realize high-speed motion; a core motion platform connected with a motion portion of a non-contact actuator, connected with the rigid frame by a primary flexible hinge group and a secondary flexible hinge group, and used for generating a small-stroke precise displacement by elastic deformation of the flexible hinge groups under driving of the actuator.

Abstract: The present invention provides a mechanical and control integration design method, comprising: first building an initial model of a controlled object, and regarding the estimation of an undetermined part as a disturbance; performing parametric design to the determined part of the controlled object model to obtain a parameterized model; further truncating and simplifying the controlled object model according to dynamic response characteristics of the object model and the control target requirements to obtain an approximate model as a prediction model; measuring a system state, building a control performance judgment criterion, and calculating the difference with the calculation result of the prediction model to obtain the total disturbance of the system; designing a total disturbance eliminating link according to the order of the prediction model, and constructing and completing an auto-disturbance rejection controller.

Abstract: The present invention also discloses a multi-DOF (Degree of Freedom) large-stroke high-precision motion platform system using the guide mechanism. A large load-bearing guide mechanism comprises: a rigid frame for generating a large-stroke displacement to realize high-speed motion; a core motion platform connected with a motion portion of a non-contact actuator, connected with the rigid frame by a primary flexible hinge group and a secondary flexible hinge group, and used for generating a small-stroke precise displacement by elastic deformation of the flexible hinge groups under driving of the actuator.