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工程设计学报
工程设计学报  2016, Vol. 23 Issue (2): 172-180    DOI: 10.3785/j.issn.1006-754X.2016.02.011
建模、分析、优化和决策     
基于MATLAB的3-RPS并联机构控制系统仿真
王爱国1,2, 陈健伟3
1. 合肥工业大学 机械与汽车工程学院, 安徽 合肥 230009;
2. 安徽机电职业技术学院, 安徽 芜湖 241002;
3. 江西理工大学 机电工程学院, 江西 赣州 341000
Simulation for control system of 3-RPS parallel mechanism based on MATLAB
WANG Ai-guo1,2, CHEN Jian-wei3
1. School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei 230009, China;
2. Anhui Technical College of Mechanical and Electrical Engineering, Wuhu 241002, China;
3. School of Mechanical and Electrical Engineering, Jiangxi University of Science and Technology, Ganzhou 341000, China
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摘要： 针对传统螺旋法求解并联机构Jacobian矩阵的缺陷,提出了一种基于并联机构微运动分析的微位移法.该微位移法在求解过程中可避免求解超越方程组的难题,且得到的Jacobian矩阵为非奇异方阵.同时,针对并联机构传统控制器轨迹跟踪精度低的问题,设计了一种基于并联机构动力学方程和比例切换控制律的滑模变结构控制器(SMC).首先,建立机构的MATLAB/SimMechanics仿真分析模型,采用微位移法求解并联机构的Jacobian矩阵,为控制系统提供理论参考输入值.其次,设计SMC控制器,运用Lyapunov函数证明控制器的稳定性;最后,分别建立机构PID控制和SMC控制系统的MATLAB/Simulink框图,对其进行仿真分析与对比.结果表明:SMC控制器的轨迹跟踪精度比PID控制器的精度高,稳态误差小,且鲁棒性强,响应速度快,从而验证了SMC控制的有效性.
关键词： 3-RPS并联机构;  微位移法;  PID控制;  SMC控制;  MATLAB仿真    
Abstract: Owing to the defects of traditional spiral method to solve Jacobian matrix of parallel mechanism,a micro-displacement method was put forward based on micro-motion analysis of 3-RPS parallel mechanism.The method could avoid the problem of transcendental equation group in the solving process,and the Jacobian matrix acquired was a non singular matrix.At the same time,aiming at the low trajectory tracking precision of conventional controller of parallel mechanism,the sliding model controller (SMC) was designed by the dynamic equation of 3-RPS parallel mechanism and proportional switching control law.Firstly,the MATLAB/SimMechanics simulation analysis model of 3-RPS parallel mechanism was presented and the Jacobian matrix of 3-RPS parallel manipulator was solved by micro-displacement method,which was the theoretical reference value for control system.Secondly,the SMC controller was designed,then the stability of SMC controller was proven based on the Lyapunov function.Finally,the MATLAB/Simulink model of PID controller and SMC controller were respectively established,and the simulation analysis and comparison were performed.The results show that the SMC controller has higher trajectory tracking precision,smaller steady-state error,faster response speed and better robustness than that of PID controller,so the effectiveness of SMC controller is verified.
Key words: 3-RPS parallel manipulator    micro-displacement method    PID controller    SMC controller    MATLAB simulation
收稿日期: 2015-12-22 出版日期: 2016-04-28
CLC:  TP15  
基金资助:

国家自然科学基金资助项目(51175135);安徽省自然科学基金重点资助项目(KJ2016A138).
作者简介: 王爱国(1976—),男,安徽合肥人,博士生,副教授,从事控制技术研究,E-mail:wangaiguo_2003@163.com.http://orcid.org//0000-0003-4621-9051
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引用本文:

王爱国, 陈健伟. 基于MATLAB的3-RPS并联机构控制系统仿真[J]. 工程设计学报, 2016, 23(2): 172-180.

WANG Ai-guo, CHEN Jian-wei. Simulation for control system of 3-RPS parallel mechanism based on MATLAB. Chinese Journal of Engineering Design, 2016, 23(2): 172-180.

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https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2016.02.011    或    https://www.zjujournals.com/gcsjxb/CN/Y2016/V23/I2/172

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