摘要
基于Kane方程,建立了平面二自由度冗余驱动并联机构的动力学模型。基于轨迹轮廓误差,定义了机构的同步误差及滑模面,将动力学方程线性化,设计了自适应滑模同步控制器并对机构进行了稳定性分析。通过MATLAB仿真计算,并与计算力矩法进行比较发现,自适应滑模同步控制法优于计算力矩法,能够很好地实现轨迹跟踪。
Based on Kane equation,aplanar 2-DOF redundantly actuated parallel mechanism dynamics model was formulated.With trajectory contour error,the synchronization error was defined and the sliding surface was determined.After dynamic equation linearization,an adaptive sliding mode synchronous controller was designed with a stability analysis.MATLAB simulation results show that the adaptive sliding mode synchronous control can be able to achieve good trajectory tracking compared with general computed torque method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2013年第20期2730-2735,共6页
China Mechanical Engineering
基金
国家自然科学基金资助项目(51105089)
关键词
冗余驱动
KANE方程
自适应滑模控制
同步
redundant actuation
Kane equation
adaptive sliding mode control
synchronization
