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FITEE
Frontiers of Information Technology & Electronic Engineering  2017, Vol. 18 Issue (3): 303-316    DOI: 10.1631/FITEE.1500353
    
含参数初值整定和自适应鲁棒方法的3-RPS气动并联平台位姿控制
Guo-liang Tao, Ce Shang, De-yuan Meng, Chao-chao Zhou
Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method
Guo-liang Tao, Ce Shang, De-yuan Meng, Chao-chao Zhou
The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
 全文: PDF 
摘要： 概要：本文讨论了关于气缸驱动的3-RPS并联平台的一种控制方法。研究对象使用气动比例方向阀控制各驱动气缸，并建立了系统的运动学和动力学模型，采用基于反步法和在线参数辨识的自适应鲁棒控制器作为主要控制方式。同时为了满足对系统未建模部分和参数估计误差导致的干扰，将直接自适应快速补偿集成与控制器的设计中。为了避免因为在平台运动过程等实际工况中负载变化对性能造成的影响，提出了一种参数初值整定模式，提升了控制算法的适应性。通过采用这些方法，并联平台位姿轨迹跟踪性能的频响和精度均有了提升，并且负载和约束内力对平台控制性能造成的不良影响也得到了消除。不同工况下的实验显示了所设计的控制方法的良好性能，使整体平均相对误差减小到1%以内。
关键词： 参数初值整定;  自适应鲁棒控制;  并联机构    
Abstract: A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations, a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation, the identification of parameters is taken as the initialization of unknown parameters in the controller, which can improve the adaptability of the algorithm. Using these methods, the response rate of the parameter estimation and control performance were improved significantly. The adverse effects of load and restriction forces were eliminated by the initialization and online estimation. Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization, approaching average tracking errors of less than 1%.
Key words: Parameter initialization    Adaptive robust control    Parallel mechanism    Pneumatic cylinders
收稿日期: 2015-10-21 出版日期: 2017-03-10
CLC:  TP273  
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Guo-liang Tao
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引用本文:

Guo-liang Tao, Ce Shang, De-yuan Meng, Chao-chao Zhou. Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method. Front. Inform. Technol. Electron. Eng., 2017, 18(3): 303-316.

链接本文:

http://www.zjujournals.com/xueshu/fitee/CN/10.1631/FITEE.1500353    或    http://www.zjujournals.com/xueshu/fitee/CN/Y2017/V18/I3/303

[1] Guo-liang Tao, Ce Shang, De-yuan Meng, Chao-chao Zhou. 含参数初值整定和自适应鲁棒方法的3-RPS气动并联平台位姿控制[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(3): 303-316.
[2] De-yuan Meng, Guo-liang Tao, Ai-min Li, Wei Li. 基于交叉耦合方法的双轴气动伺服系统自适应鲁棒同步控制研究[J]. Front. Inform. Technol. Electron. Eng., 2014, 15(8): 651-663.