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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)  
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°.
关键词： 任务空间;  滑模变结构;  动力学建模;  四自由度并联机构;  电动平台    
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°.
Key words: task space    sliding mode variable structure    dynamic modeling    4-DOF parallel mechanism    electric platform
出版日期: 2009-09-01
:  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.
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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/xueshu/eng/CN/10.3785/j.issn.1008-973X.2009.    或    http://www.zjujournals.com/xueshu/eng/CN/Y2009/V43/I8/1492

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