基于PMAC的球面5R并联机构运动控制分析

Study on the Motion Control of Spherical 5R Parallel Mechanism Based on PMAC

针对球面5R并联机构"PC机+PMAC卡"开放式半闭环运动控制系统,分别在位置控制模式下设计PID位置控制器、速度控制模式下设计PID+速度/加速度前馈+NOTCH滤波位置控制器和滑模变结构位置控制器实现机构的运动学控制;应用Simulink建立运动控制系统仿真模型并依据仿真结果优化各控制策略控制器参数;利用伺服器的参数调整功能、PMAC软件系统及其提供的OPEN SERVO开放伺服算法,实现各控制策略位置控制器并整定其参数;通过对比分析仿真结果和实验结果,证明各控制策略的正确性和有效性。

Aimed at the ＂PC ＋ PMAC＂open semi closed loop motion control system of spherical 5R parallel mechanism,through designing PID position controller under the mode of position control and designing PID ＋ velocity /acceleration feedforward ＋ NOTCH filter position controller and sliding mode variable structure position controller under the mode of speed control respectively so the kinematics control of this mechanism can be realized. The simulation model of the motion control system is built by Simulink,and according to the simulation results,the controller parameters of each control strategy are optimized. The position controllers of each control strategy are realized and the parameters are tuned with both the parameter adjustment function of the server and the PMAC software system and its OPEN SERVO algorithm. The comparative analysis of simulation results and experimental results,the validity and effectiveness of each control strategy is verified.