摘要
针对所设计的3SPS+1PS型并联仿生髋关节试验机,利用拉格朗日方程建立了试验机的解析动力学模型。基于所建立的动力学模型,利用增广PD控制策略,设计了并联试验机基于工作空间的多输入/多输出控制器,并用于试验机动平台的轨迹跟踪控制。将增广PD控制的试验结果与PD控制的结果进行对比,可看出利用增广PD控制器可在一定程度上改善试验机动平台的轨迹跟踪精度。
The analytical dynamic model of 3SPS ＋ 1PS parallel manipulator is established using the Lagrange equations. Based on the dynamic model, a multi-input/output controller based on working space is designed with the help of the augmented PD control strategy, and is used for trajectory tracking control of the moving platform. Through the comparison of the results of the PD control and augmented PD control,it can be proved that the use of augmented PD controller can improve the precision of trajectory tracking of manipulator at a certain extent.
出处
《现代制造工程》
CSCD
北大核心
2016年第7期35-39,共5页
Modern Manufacturing Engineering
基金
国家自然科学基金资助项目(51275512)
