3-RPS并联机器人动力学分析及控制

Dynamics Analysis and Control of 3-RPS Parallel Robot

运用牛顿—欧拉方法建立3-RPS并联机器人机构的逆动力学模型。通过使用Simmechanics将并联机器人物理模型导入Matlab/Simulink中,利用Simulink对机构进行动力学仿真以及验证机构的逆动力学模型。针对并联机器人的建模不确定性,提出一种基于不确定性系统的鲁棒控制方案,即分别通过基于标称模型设计系统的计算力矩控制器,来镇定标称系统;通过构建Lyapunov函数来构建系统的鲁棒补偿控制器,来消除由于建模不确定性引起的跟踪误差。通过将控制模型导入Simulink中对其控制效果进行验证,其具有较低的稳态误差精度,效果优于计算力矩控制策略。

With the application of the Newton-Euler formulation,an inversedynamic model is put forward for 3-RPS parallel robot.According to the structure of 3-RPS parallel robot,the simmechanics model isestablished.By using Simmechanics,the parallel robot model is imported to Matlab/simulink to simulate and testify the model.A robust control scheme is proposed to solve the uncertainties of the modeling process.On one hand,calculation torque controller based on nominal model design can be used to stable the nominal model design system.On the other hand,setting up model design system’s robust compensation controller by constructing the Lyapunov function eliminates the tracking errors resulting from modeling uncertainties.The result shows that the robust compensation controller which is equipped with lower steady-state error accuracy is superior to the calculation torch controller.