Please wait a minute...
浙江大学学报(工学版)
J4  2009, Vol. 43 Issue (8): 1492-1496    DOI: 10.3785/j.issn.1008-973X.2009.
机械工程     
4TPS-1PS四自由度并联电动平台动力学建模与位姿闭环鲁棒控制
王宣银,程佳
(浙江大学 流体传动及控制国家重点实验室，浙江 杭州 310027)
Dynamic modeling and robust control in task space of 4-DOF parallel
electric platform with 4TPS-1PS structure
 WANG Xuan-Yin, CHENG Jia
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
 全文: PDF(683 KB)   HTML
摘要：

4TPS-1PS四自由度并联平台是针对稳定跟踪系统需要而设计的一种新型并联机构,具有3个独立的转动自由度和1个移动自由度.对该新型并联平台进行运动学分析,将其分为上平台、电动缸、从动支链3个部分,利用拉格朗日方法建立了完整动力学模型,在此基础上提出一种适用于该并联平台的位姿闭环鲁棒控制策略.采用该并联平台特有的实时正解得到上平台实际位姿进行反馈,将平台作为一个整体进行控制,在任务空间内设计滑模变结构控制器,进行两自由度复合运动控制实验.结果表明,该控制策略是有效的,提高了平台的轨迹跟踪精度,平均位姿跟踪精度优于0.05°.
Abstract:

The 4TPS-1PS parallel platform designed for the stabilization and tracking system is a novel lower-mobility parallel mechanism, which has four degrees of freedom including rotations around three coordinate axes and translation along one coordinate axis. The dynamics model of the 4TPS-1PS platform including upper plate, electric cylinders and slave leg was built by Lagrange method based on kinematics analysis. The platform was controlled as a whole, and a robust controller in task space was presented, in which the platform’s pose was computed out by realtime forward kinematics and was taken as the feedback. A sliding mode variable structure controller was designed in task space. The experimental results of two-degrees-of-freedom rotation showed that the performance of the platform was improved and the pose tracking precision was less than 0-05°.
出版日期: 2009-09-28
:  TP 273  
基金资助:

教育部新世纪优秀人才支持计划（NCET-04-0545）.
作者简介: 王宣银（1966－），男，湖南衡阳人，教授，博导，从事并联多自由度运动平台控制研究.
服务　　
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章　　

引用本文:

王宣银, 程佳. 4TPS-1PS四自由度并联电动平台动力学建模与位姿闭环鲁棒控制[J]. J4, 2009, 43(8): 1492-1496.

WANG Xuan-Yin, CHENG Jia. Dynamic modeling and robust control in task space of 4-DOF parallel
electric platform with 4TPS-1PS structure. J4, 2009, 43(8): 1492-1496.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2009.    或    http://www.zjujournals.com/eng/CN/Y2009/V43/I8/1492

[1] BHASKAR D, MRUTHYUNJAYA T S. The Stewart platform manipulator: a review [J]. Mechanism and Machine Theory, 2000, 35(1): 15-40.
[2] HUANG C I, FU L C. Smooth sliding mode tracking control of the Stewart platform [C]∥ Proceedings of the 2005 IEEE Conference on Control Applications. Toronto: IEEE, 2005: 43-48.
[3] 杨志永,黄田,倪雁冰. 3-HSS并联机床动力学建模及鲁棒轨迹跟踪控制[J]. 机械工程学报, 2004, 40(11): 75-81.
YANG Zhi-yong, HUANG Tian, NI Yan-bing. Dynamic modeling and trail tracking robust control of 3-HSS parallel kinematic machine [J]. Chinese Journal of Mechanical Engineering, 2004, 40(11): 75-81.
[4] SIROUSPOUR M R, SALCUDEAN S E. Nonlinear control of hydraulic robots [J]. IEEE Transactions on Robotics and Automation, 2001, 17(2): 173-182.
[5] 王洪斌,王洪瑞,肖金壮.并联机器人轨迹跟踪积分变结构控制的研究[J]. 燕山大学学报, 2003, 27(1): 25-28.
WANG Hong-bin, WANG Hong-rui, XIAO Jin-zhuang. Study on trajectory following of parallel robot using integral variable structure control [J]. Journal of Yanshan University, 2003, 27(1): 25-28.
[6] CHENG J, WANG X Y, FU X J, et al. Research on the operating characteristics of the parallel 4-DOF electric platform with 4TPS-PS structure [J]. Journal of Zhejiang University: Science A, 2007, 8(11): 1800-1807.
[7] BHASKAR D, MRUTHYUNJAYA T S. A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator [J]. Mechanism and Machine Theory, 1998, 33(8): 1135-1152.
[8] PANG H, SHAHINPOOR M. Inverse dynamics of a parallel manipulator [J]. Journal of Robotic Systems, 1994, 11(8): 693-702.
[9] LIU Min-jie, LI Cong-xin, LI Chong-ni. Dynamics analysis of the Gough-Stewart platform manipulator [J]. IEEE Transactions on Robotics and Automation, 2000, 16(1): 94-98.
[10] 高为炳. 变结构控制理论基础[M]. 北京:中国科学技术出版社, 1990: 124-129.
[1] 程森林,李雷,朱保卫,柴毅. WSN定位中的RSSI概率质心计算方法[J]. J4, 2014, 48(1): 100-104.
[2] 方强, 陈利鹏, 费少华, 梁青霄, 李卫平, 赵金锋. 定位器模型参考自适应控制系统设计[J]. J4, 2013, 47(12): 2234-2242.
[3] 罗继亮, 王飞,邵辉,赵良煦. 基于约束转换的Petri网最优监控器设计[J]. J4, 2013, 47(11): 2051-2056.
[4] 任雯, 胥布工. 基于FI-SNAPID算法的经编机多速电子送经系统开发[J]. J4, 2013, 47(10): 1712-1721.
[5] 李奇安, 金鑫. 对角CARIMA模型多变量广义预测近似解耦控制[J]. J4, 2013, 47(10): 1764-1769.
[6] 孟德远,陶国良,钱鹏飞,班伟. 气动力伺服系统的自适应鲁棒控制[J]. J4, 2013, 47(9): 1611-1619.
[7] 叶凌云,陈波,张建,宋开臣. 基于最少拍无波纹算法的高精度动态标准源反馈控制[J]. J4, 2013, 47(9): 1554-1558.
[8] 叶凌箭,马修水. 基于软测量技术的化工过程优化控制策略[J]. J4, 2013, 47(7): 1253-1257.
[9] 黄晓烁,何衍,蒋静坪. 基于互联网无刷直流电机传动系统的控制策略[J]. J4, 2013, 47(5): 831-836.
[10] 贺乃宝, 高倩, 徐启华, 姜长生. 基于自适应观测器的飞行器抗干扰控制[J]. J4, 2013, 47(4): 650-655.
[11] 朱予辰,冯冬芹,褚健. 基于EPA的块数据流通信调度与控制[J]. J4, 2012, 46(11): 2097-2102.
[12] 刘志鹏, 颜文俊. 预粉磨系统的智能建模与复合控制[J]. J4, 2012, 46(8): 1506-1511.
[13] 朱康武, 顾临怡, 马新军, 胥本涛. 水下运载器多变量鲁棒输出反馈控制方法[J]. J4, 2012, 46(8): 1397-1406.
[14] 费少华,方强,孟祥磊,柯映林. 基于压脚位移补偿的机器人制孔锪窝深度控制[J]. J4, 2012, 46(7): 1157-1161.
[15] 于晓明, 蒋静坪. 基于神经网络延时预测的自适应网络控制系统[J]. J4, 2012, 46(2): 194-198.