多冗余驱动并联机构2RPU+2UPR+RPR的动力学建模与控制策略研究

Dynamics Analysis and Control Strategy Research of More Redundantly Actuated Parallel Mechanism 2RPU+2UPR+RPR

以多冗余驱动并联机构2RPU+2UPR+RPR为被控对象,利用虚功原理推导了该对象的动力学模型,并基于动力学模型开展了对多冗余驱动并联机构多种控制策略的对比研究。研究分为全力驱动模式和力位混合驱动模式两类,在全力驱动模式下,又分为基于关节反馈的关节PID控制和关节增广PID控制以及基于动平台广义坐标反馈的广义PID控制、广义增广PID控制和计算力矩控制,通过仿真结果分析了上述控制策略的优劣性;在力位混合驱动模式下,首先介绍了两种比较传统的力位混合控制策略,然后提出了一种新的驱动力协调控制策略,通过仿真验证所提控制策略能够在一定程度上协调位控关节驱动力。

Based on the redundant drive two turn a move 2RPU+2UPR+RPR parallel mechanism as the controlled object,using the virtual work principle is derived the dynamic model of the object,and based on the dynamic model of the multiple redundant driving parallel mechanism of the comparison of the various control strategies.The full text is divided into two categories:full force drive mode and force position hybrid drive mode.In full force drive mode,it is further divided into joint PID control and joint augmented PID control based on joint feedback,as well as generalized PID control,generalized augmented PID control,and calculated torque control based on motion platform generalized coordinate feedback.The advantages and disadvantages of the above control strategies are analyzed through simulation results;In the force position hybrid driving mode,two traditional force position hybrid control strategies were first introduced,and then a new driving force coordination control strategy was proposed.Through simulation verification,the proposed control strategy can coordinate the driving force of the position control joint to a certain extent.