Motion Control Study on Cable-Driven Parallel Manipulator
ZI Bin ZHU Zhencai DU Jingli
1. School of Mechanical and Electrical Engineering, China University of Mining & Technology, Jiangsu Xuzhou, 221116, China;2. School of Electromechanical Engineering, Xidian University, Xi’an, Shaanxi 710071, China)
Abstract：Based on the characteristic of the cable-driven parallel manipulator (CPM), the control method is studied. Taking account of the model uncertainties and external disturbances for CPM, control strategy of the flexible system is discussed. In addition, considering the characteristics of nonlinearity, slow time-varying, and multivariable coupling of the system, a fuzzy control plus proportional-integral hybrid discrete-time control method combining PI control with fuzzy logic control(Fuzzy-PI), which can enhance the control performance for steady state errors, is developed for more effective and robust performance. The scheme with proportional-integral-tuning unit, which optimizes the control rules by adjusting factors, is utilized to carry out the trajectory tracking of the object. Numerical results show the tracking errors in X, Y, and Z directions with Fuzzy-PI, conventional fuzzy logic controller, and discrete-time nonlinear PID control arithmetic hold in the range of ±10cm, ±7cm, ±3cm, and ±15cm, ±8cm, ±5cm, and ±15cm, ±9cm, ±4cm, respectively, in the presence of external disturbances.
訾 斌 朱真才 杜敬利 . 柔索驱动并联机器人运动控制研究[J]. , 2009, 28(9): 48-51.
ZI Bin ZHU Zhencai DU Jingli. Motion Control Study on Cable-Driven Parallel Manipulator. , 2009, 28(9): 48-51.
2009, Vol. 28 
