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

WANG Hong-rui; YANG Yi; LI Zhi-qiang; WANG Yue-ling; WANG Hong-bin

doi:10.3969/j.iss.0372-2012-2014.03.015

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

更新时间：2025-07-16

- Robust Fast Tracking Control of Moving Platform of PSS 3-2-1 Orthogonal Parallel Mechanism
- Acta Electronica Sinica Vol. 42, Issue 3, Pages: 517-522(2014)
- 作者机构：
  
  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
  5. 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
  6. 河北大学,河北,保定,071000
  7. 天津天大求实电力新技术股份有限公司,天津,300384
  8. 河北科技师范学院,河北,秦皇岛,066004
- 作者简介：
- 基金信息：
- DOI：10.3969/j.iss.0372-2012-2014.03.015
  CLC： TP242
- Published：2014
- 稿件说明：
移动端阅览
WANG Hong-rui, YANG Yi, LI Zhi-qiang, et al. Robust Fast Tracking Control of Moving Platform of PSS 3-2-1 Orthogonal Parallel Mechanism[J]. Acta Electronica Sinica, 2014, 42(3): 517-522.
DOI：

WANG Hong-rui, YANG Yi, LI Zhi-qiang, et al. Robust Fast Tracking Control of Moving Platform of PSS 3-2-1 Orthogonal Parallel Mechanism[J]. Acta Electronica Sinica, 2014, 42(3): 517-522. DOI： 10.3969/j.iss.0372-2012-2014.03.015.

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.

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.

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