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浙江大学学报(工学版)
电气工程     
大部件姿态的快速计算与高精度多轴同步控制
屈稳太1, 杨家强2, 张明晖2
1. 浙江大学 宁波理工学院,浙江 宁波 315100; 2. 浙江大学 电气工程学院,浙江 杭州 310027
Fast computing method of large-part poses and high-precision multi-axis synchronization control
QU Wen-tai1, YANG Jia-qiang2, ZHANG Ming-hui2
1. Ningbo institute of technology, Zhejiang University, Ningbo 315100, China; 2. College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
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摘要:

为了解决一种六自由度大部件并联机构的姿态精确控制问题,提出一种快速的姿态计算方法和高精度的多轴同步协调控制技术.在基础平台上建立固定坐标系,在大部件的中心建立连体坐标系,基于这两个坐标系建立大部件姿态计算的运动学数学模型;在固定坐标系中通过对大部件上4个靶标的初始位置和目标位置的精确测量,即可快速计算出大部件4个支撑柱三坐标的位移增量;多轴同步协调控制技术采用同步误差积分补偿方法(CSEI),对4个支撑柱3个坐标轴共12个运动轴的同步位移误差进行动态积分补偿,显著地减少了系统的超调量和调节时间,提高了大部件姿态调整的速度和精度.仿真结果表明,所提出的姿态计算方法仅需一次矩阵变换,即可计算出4个柱子的坐标增量;CSEI方法较传统的PID方法调节时间减少1/2.

Abstract:

In order to solve the precision pose control problem of a kind of six degree of freedom parallel mechanism of the large parts, a fast and high-precision pose calculation method and multi-axis synchronous control technology were proposed. Based on the two coordinate systems, a fixed coordinate system which is built on the platform, and an anther body fixed coordinate system which is built in the center of the large parts, the pose kinematics calculation models of large parts were established. Through precise measurements of the initial position and a target position of four targets on the large parts, the twelve incremental displacements of the four main supporting poles with three coordinates could be calculated quickly. In the control of large parts pose, the compensation of synchronization error integral (CSEI) was applied to the multi-axis synchronous motion control and the dynamic integral compensation was done to the synchronous displacement errors of the twelve motion axis. Consequently, the system overshoot and adjusting time are significantly reduced and the speed and accuracy of large parts pose adjustment are improved. The simulation results show that the computing method of large-part poses can calculate the increment of coordinates of four bars by only one matrix transformation, and the CSEI regulation time can reduce by half compared with the traditional PID method.

出版日期: 2014-12-01
:  TH1 34  
基金资助:

浙江省自然科学基金资助项目(Y1100290);宁波市自然科学基金资助项目(2011A610135)

通讯作者: 杨家强,男,副教授,博士     E-mail: yjq1998@163.com
作者简介: 屈稳太(1963—),男,教授,从事复杂机电系统控制研究. E-mail:wentaiqu@zju.edu.cn
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引用本文:

屈稳太, 杨家强, 张明晖. 大部件姿态的快速计算与高精度多轴同步控制[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2014.12.016.

QU Wen-tai, YANG Jia-qiang, ZHANG Ming-hui. Fast computing method of large-part poses and high-precision multi-axis synchronization control. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2014.12.016.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2014.12.016        http://www.zjujournals.com/eng/CN/Y2014/V48/I12/2216

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