柔索驱动并联机器人运动控制研究

訾 斌 朱真才 杜敬利

振动与冲击 ›› 2009, Vol. 28 ›› Issue (9) : 48-51.

PDF(2484 KB)
PDF(2484 KB)
振动与冲击 ›› 2009, Vol. 28 ›› Issue (9) : 48-51.
论文

柔索驱动并联机器人运动控制研究

  • 訾 斌 朱真才 杜敬利
作者信息 +

Motion Control Study on Cable-Driven Parallel Manipulator

  • ZI Bin ZHU Zhencai DU Jingli
Author information +
文章历史 +

摘要

针对柔索驱动并联机器人的工作特点,研究柔索驱动并联机器人的运动控制方法。通过对柔索驱动并联机器人系统动力学的强非线性、参数不确定性以及受到外界干扰等系统特性的分析,探讨了系统适用的控制策略。进一步,设计了一种将常规PI控制和Fuzzy控制相结合的Fuzzy-PI混合离散控制策略来实现柔索驱动并联机器人轨迹跟踪控制。这种控制策略不仅能发挥模糊控制鲁棒性强、动态响应快的特点,而且具有常规PI控制器的动态跟踪品质和稳态精度。在此基础上,为了进一步提高Fuzzy-PI混合离散控制系统的适应能力,设计了一种带有自调整因子的模糊控制规则。数值结果表明,在相同给定条件下Fuzzy-PI控制算法、常规模糊控制和离散非线性PID控制算法跟踪期望轨迹时,沿X方向、Y方向和Z方向的跟踪误差分别在 ±10cm、±7cm、±3cm,±15cm、±8cm、±5cm,±15cm、±9cm、±4cm的范围内。

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.

关键词

柔索驱动并联机器人 / Fuzzy-PI混合离散控制 / 非线性PID控制 / 轨迹跟踪

Key words

cable-driven parallel manipulator / fuzzy control plus proportional-integral hybrid discrete-time control / nonlinear PID control / trajectory tracking

引用本文

导出引用
訾 斌 朱真才 杜敬利 . 柔索驱动并联机器人运动控制研究[J]. 振动与冲击, 2009, 28(9): 48-51
ZI Bin ZHU Zhencai DU Jingli. Motion Control Study on Cable-Driven Parallel Manipulator[J]. Journal of Vibration and Shock, 2009, 28(9): 48-51

PDF(2484 KB)

3228

Accesses

0

Citation

Detail

段落导航
相关文章

/