摘要
基于影响系数法对冗余并联柔索机构进行了运动学分析,验证了动平台的姿态参数欧拉角对时间的1阶、2阶导数不能表示动平台的角速度和角加速度。考虑电绞盘的动力学特性建立了动力学方程,获得了奇异摄动模型,并进行了圆轨迹跟踪控制仿真分析。采用常值重力及内张力补偿设计了控制系统调节器,基于电机转角位置反馈分析了该控制系统PD调节器的误差,验证了该控制系统的稳定性,为冗余并联柔索机构控制系统的设计提供了理论依据。
Based on influence coefficient method, the kine- matics analysis is proposed for wire-driven parallel manipulator, the orientation parameters by Euler angles of the moving platform of time first-order and second-order derivative are not the moving plat- form angular velocity and angular acceleration is verified. The dy- namics equation is established when dynamic characteristics of the winch is considered, the singular perturbation model is acquired by using singular perturbation method, and the simulation of a circle trajectory tracking control is analyzed. An algorithm for control sys- tem of the redundant wire-driven parallel manipulator is proposed by using constant gravity and internal tension compensation, the posi- tion control of mobile platform is realized, the deviations of PD reg- ulator for the control system are analyzed based on position feedback of rotation angle of the motors, the stability of the control system is verified, the theory of the control system of the redundant wire-driv- en parallel manipulator is given for design.
出处
《机械设计》
CSCD
北大核心
2012年第11期36-40,共5页
Journal of Machine Design
基金
安徽省高校优秀青年人才基金资助项目(2011SQRL042)
关键词
影响系数法
轨迹跟踪控制
奇异摄动法
内张力补偿
influence coefficient method
trajectory trackingcontrol
singular perturbation
internal tension compensation
