并联机器人单支链伺服控制研究

Study of Single-servo Control of Parallel Branched Chain

以并联机器人单支链系统为研究对象,利用机械系统动力学分析软件ADAMS建立系统的动力学模型,并添加外部载荷及约束。在控制系统仿真软件Matlab中设计伺服系统的控制算法,利用控制输出来驱动机械模型。通过ADAMS/Controls模块作为两软件的接口,将AD-AMS中的机械模型杆位置、电动机速度输出反馈给控制模型,实现机械系统与控制系统的联合仿真。通过联合仿真,可以为单支链控制系统的设计与调试提供可靠依据。

This paper takes the parallel single-chain system as the object of study and uses dynamic analysis software ADAMS to establish the system dynamic model and add external load and constraint. The control algorithm of servo system is designed in the control system of Matlab simulation software and the control output is used to drive the mechanical model. ADAMS / Controls module is taken as two software interface,the mechanical lever position of ADAMS model and the motor speed output are fed back to the control model to make closed-loop mechanical system and control system achieve the joint simulation which can provide a reliable basis for single-chain control system design and commissioning.