一种绳驱动并联清洗机器人的控制策略研究

Research on Control Strategy of a Cable-Driven Parallel Cleaning Robot

绳驱动并联清洗机器人可以有效地代替人工实现对外墙的清洗作业,但是由于其自身受到外界干扰较多,而且机器人的所有动作都要确保绳索处于张紧状态,因此与传统的并联机器人相比,研究绳驱动并联清洗机器人的运动控制问题更具有挑战性。考虑实际使用过程中系统受到的外力干扰问题,通过牛顿-欧拉法和拉格朗日方程建立包含绳索弹性的系统动力学模型;结合PD前馈控制和传统的PID控制,设计包含绳索张力优化算法的控制律,通过李雅普诺夫稳定性理论证明控制算法的稳定性;通过数值分析验证了绳驱动并联清洗机器人在受到外力扰动时的理论跟踪性能,证明了该控制算法的有效性。

Cable-driven parallel cleaning robots can effectively replace manual cleaning of facades,but because they are subject to more external interference and all robot movements are linked to ensure that the cables are in tension,it is more challenging to study the motion control problems of cable-driven parallel cleaning robots than traditional parallel robots.Considering the external forces disturbances of the system during actual use process,a system dynamics model containing cable elasticity was established through Newton-Euler method and Lagrange equation.Combining PD feedforward control and traditional PID,a control law containing cable tension optimization algorithm was designed,and the stability of the control algorithm was proved through Lyapunov stability theory;the theoretical tracking performance of the cable-driven parallel cleaning robot was verified when disturbed by external forces through numerical analysis,and the effectiveness of the control algorithm was proved.