基于SimMechanics的高速3-RRR并联机构动力学分析与控制

Dynamic Analysis And Control of High-Speed 3-RRR Parallel Mechanism Based on SimMechanics

为了满足3-RRR并联机构在工业应用中高速操作,研究其在高速运动中的动力学行为和控制。采用SimMechanics建立3-RRR并联机构的动力学模型,基于该模型对其进行动力学分析。分析结果表明,速度越大,驱动力矩也越大;机构高速运行过程中驱动力矩变化大,且在某些时刻产生突变致使机构产生较大冲击。为了实现高速运动跟踪控制,利用PID控制的鲁棒性,设计PID控制器。仿真结果表明,动平台能较好地实现期望的轨迹,但在初始阶段,存在一定的跟踪误差。

In order to meet the high speed operation of 3-RRR parallel mechanism in the industry applications,its dynamic performances and control during high-speed operation is presented.The SimMechanics is applied to build the dynamic model of 3-RRR paralllel mechanism,and the dynamic analysis is performed based on it.The analysis results show that the more higher the velocities are,the more larger the actuated torqures are;the torques have comparatively larger changes as the mechanisms is on high-speed operation,and the sudden changes of the torqe cause large impacts of the mechanism.In order to meet high-speed motion trajectory control,the PID controller is designed by using its robustness.The simulation results show that the mobile platform can acquire the desired trajectory,but during the first phase,the trajectory errors exit.