一种绳牵引并联机器人系统控制律设计及Lyapunov稳定性分析

Design of control law of WDPR and Lyapunov stability analysis

根据绳牵引并联机器人系统的耦合性和非线性,以6-DOF八绳牵引并联机器人(WDPR-8)系统为研究对象,设计一种基于系统动力学方程的PD控制律,并构造出一种李雅普诺夫函数;基于李雅普诺夫稳定性理论以及LaSalle定理对非线性并联控制系统进行稳定性分析,结果表明,WDPR-8支撑系统呈渐近稳定特性.针对用于风洞试验的飞机模型支撑,通过仿真实验验证所设计控制律的正确性和可行性.仿真结果表明,系统的控制性能良好,可为实际应用提供依据.

According to the coupling and nonlinearity of the wire-driven parallel robot（WDPR） system, and taking the6-DOF WDPR-8 system as the research object, a PD control law is designed based on dynamic equations of the system,and a Lyapunov function is constructed according to the designed control law. The stability of nonlinear parallel control systems is analyzed based on the Lyapunov stability theory and LaSalle theorem. The results show that the system tends to be asymptotically stable. Finally, in the light of the support of the aircraft model for wind tunnel test, the correctness and feasibility of the designed control law is proved by the simulation experiments. The simulation results show that, the control performance of the system is good, which provides the basis for the practical application.