电子学报 ›› 2014, Vol. 42 ›› Issue (3): 517-522.DOI: 10.3969/j.iss.0372-2012-2014.03.015

• 学术论文 • 上一篇    下一篇

PSS3-2-1正交并联机构动平台的鲁棒快速跟踪控制

王洪瑞1,2, 杨毅1,3, 李志强4, 王跃灵1, 王洪斌1   

  1. 1. 燕山大学工业计算机控制工程河北省重点实验室, 河北秦皇岛 066004;
    2. 河北大学, 河北保定 071000;
    3. 天津天大求实电力新技术股份有限公司, 天津 300384;
    4. 河北科技师范学院,河北秦皇岛 066004
  • 收稿日期:2011-06-02 修回日期:2013-09-17 出版日期:2014-03-25
    • 作者简介:
    • 王洪瑞 男,1956出生,博士,教授.主要研究方向为冶金自动化、机器人控制技术.E-mail:1006300202@qq.com
    • 基金资助:
    • 河北省自然科学基金 (No.F2012203186)

Robust Fast Tracking Control of Moving Platform of PSS 3-2-1 Orthogonal Parallel Mechanism

WANG Hong-rui1,2, YANG Yi1,3, LI Zhi-qiang4, WANG Yue-ling1, WANG Hong-bin1   

  1. 1. Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, Hebei 066004, China;
    2. College of Electronic and Information Engineering, Hebei University, Baoding, Hebei 071000, China;
    3. Tianjin Great Realistic Power Technology Co., LTD, Tianjin 300384, China;
    4. Hebei Normal University of Science and Technology, Qinhuangdao, Hebei 066004, China
  • Received:2011-06-02 Revised:2013-09-17 Online:2014-03-25 Published:2014-03-25
    • Supported by:
    • National Natural Science Foundation of Hebei Province,  China (No.F2012203186)

摘要: 针对一种新型的六自由度的正交并联机构动平台,设计一种应用于此运动平台的以闭环系统的鲁棒性作为目标的控制算法,当平台在运动过程中受到一定程度的干扰时,它可以使平台自主达到动态平衡,并且该算法具有一定的实时性.运用该控制算法对此运动平台的轨迹进行跟踪控制,仿真实验结果证明,所设计的这种控制算法对模型不精确或者外部干扰对该动平台产生最坏的影响有很好的抑制作用,对PSS 3-2-1 正交并联机构动平台轨迹跟踪具有响应速度快,鲁棒稳定性好等优点.

关键词: 正交并联机构, 动力学模型, 稳定性, 鲁棒控制, 轨迹跟踪

Abstract: According to a novel 6-DOF moving platform of orthogonal parallel mechanism,a control algorithm,which is aimed at the robustness of the closed loop system,is proposed to apply to that moving platform of PSS 3-2-1 orthogonal parallel mechanism.The platform can keep up with an independent dynamic equilibrium when it suffers the interference in a certain degree,and this algorithm is focused on being in real time.With the mentioned algorithm we tried to track and controll the track of the moving platform,the simulation experimental results certify that the presented algorithm has good inhibitory effect on the impact of inaccurate model and the external interference of this moving platform,and it has much more responsive and better robustness on tracking the track of PSS 3-2-1 moving platform of orthogonal parallel mechanism.

Key words: orthogonal parallel mechanism, dynamics model, stability, robust control, trajectory tracking

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