四绳索牵引并联机构控制系统设计与实现

Design and Implementation of Control System for Four Rope Traction Parallel Mechanism

阐述绳索牵引并联机构具有速度快、工作空间大、高负载/重量比的优点,广泛应用于风洞模拟、体育场景摄像、大型射电望远镜等多种场景,具有重要的工程应用价值。以四绳索牵引并联机构为研究对象,建立了虚拟样机模型,并采用基于拉力分配策略的PD控制律进行控制仿真,验证控制算法的有效性。然后,构建了控制系统硬件实验平台并在LabVIEW中编写了系统控制软件,通过实验验证了控制系统的有效性。

This paper expounds that the rope traction parallel mechanism has the advantages of high speed,large working space and high load/weight ratio.It is widely used in wind tunnel simulation,sports scene photography,large radio telescope and other scenes,and has important engineering application value.Taking the four rope traction parallel mechanism as the research object,the virtual prototype model is established,and the PD control law based on tension distribution strategy is used for control simulation to verify the effectiveness of the control algorithm.Then,the hardware experimental platform of the control system is constructed,and the system control software is written in LabVIEW.The effectiveness of the control system is verified by experiments.