昆明理工大学机电工程学院,云南 昆明 650031
陈明方(1975年生),男;研究方向:机器人控制算法;E-mail:mfchen111@sina.com
纸质出版日期:2022-09-25,
网络出版日期:2022-01-18,
收稿日期:2021-07-06,
录用日期:2021-08-18
扫 描 看 全 文
陈明方,张祥,胡康康等.2-TPR/2-TPS并联机构的精密运动控制[J].中山大学学报(自然科学版),2022,61(05):41-49.
CHEN Mingfang,ZHANG Xiang,HU Kangkang,et al.Precision motion control of 2-TPR/2-TPS parallel mechanism[J].Acta Scientiarum Naturalium Universitatis Sunyatseni,2022,61(05):41-49.
陈明方,张祥,胡康康等.2-TPR/2-TPS并联机构的精密运动控制[J].中山大学学报(自然科学版),2022,61(05):41-49. DOI: 10.13471/j.cnki.acta.snus.2021B072.
CHEN Mingfang,ZHANG Xiang,HU Kangkang,et al.Precision motion control of 2-TPR/2-TPS parallel mechanism[J].Acta Scientiarum Naturalium Universitatis Sunyatseni,2022,61(05):41-49. DOI: 10.13471/j.cnki.acta.snus.2021B072.
在传统PID控制下,电机驱动的2-TPR/2-TPS并联机构因负载变化会引起末端轨迹跟踪精度较低。因此,文章提出了伺服电机速度环模糊PID控制和位置环P控制结合的双闭环控制方法。针对变负载系统的切换PID控制器和增量式自适应模糊PID控制器,搭建了基于SIMSCAPE的Electronics-Multibody联合仿真控制系统,并对3种控制策略下的动平台末端轨迹和驱动支链位移误差进行了对比分析。仿真结果表明,针对2-TPR/2-TPS并联机构的变负载特性,变PID控制策略下的动平台轨迹跟踪精度更高;相对于分段PID控制,自适应模糊PID控制具有更优的动态性能和更高的末端轨迹跟踪精度。
The end trajectory tracking accuracy of the motor-driven 2-TPR/2-TPS parallel mechanism under traditional PID control is low due to load changes.Therefore, a double closed-loop control combining servo motor speed loop fuzzy PID control and position loop P control is proposed.Based on the trajectory planning of the end of the moving platform and the analysis of the branch chain driving torque, the switching PID controller and the incremental adaptive fuzzy PID controller for the variable load system are designed, and the Electronics-Multibody joint simulation control system based on SIMSCAPE is built.A comparative analysis of the displacement error of the end trajectory of the moving platform and the driving branch chain under the three control strategies is carried out. The simulation results show that for the variable load characteristics of the 2-TPR/2-TPS parallel mechanism, the trajectory tracking accuracy of the moving platform under the variable PID control strategy is higher. Compared with the segmented PID control, the adaptive fuzzy PID control has better dynamic performance and higher end trajectory tracking accuracy.
2-TPR/2-TPS并联机构变负载轨迹跟踪自适应模糊PID
2-TPR/2-TPS parallel mechanismvariable loadtrajectory trackingadaptive fuzzy PID
黄真,孔令富,方跃法.并联机器人机构学理论及控制[M]. 北京: 机械工业出版社, 1997.
鲁开讲,师俊平,淡卜绸. 基于稳定性的并联机构自适应控制[J]. 农业机械学报, 2012, 43(1): 202-207.
LEI W,QIAN F,JIA C, et al. Control method of parallel robot based on adaptive neural fuzzy inference combined with PID control[J]. Agro Food Industry Hi-tech, 2017, 28(3): 3169-3174.
崔学良,陈五一,韩先国,等. 基于Lagrange方程的3RP/UPS冗余驱动并联机构柔顺控制[J]. 计算机集成制造系统, 2016, 22(10): 2434-2441.
赵劲松,王春发,徐嘉祥,等. 液驱并联机构多维力加载系统CMAC-模糊PID控制[J]. 中南大学学报(自然科学版), 2020, 51(10): 2811-2821.
孔德庆,黄田,张洪波,等. 考虑交流伺服电机动力学特性的并联机构鲁棒轨迹跟踪控制方法研究[J]. 自动化学报, 2007(1): 37-43.
高国琴,郑海滨. 虚拟轴机床并联机构的自适应动态滑模运动控制[J]. 机械工程学报, 2012, 48(11): 119-125.
PAN D,GAO F,MIAO Y, et al. Co-simulation research of a novel exoskeleton-human robot system on humanoid gaits with Fuzzy-PID/PID algorithms[J]. Advances in Engineering Software, 2015, 79: 36-46.
ZI B,SUN H,ZHANG D. Design, analysis and control of a winding hybrid-driven cable parallel manipulator[J]. Robotics and Computer-integrated Manufacturing, 2017, 48: 196-208.
CARPIO M,SALTAREN R,VIOLA J, et al.Proposal of a decoupled structure of Fuzzy-PID controllers applied to the position control in a planar CDPR[J]. Electronics, 2021, 10(6): 745.
冯李航,张为公,龚宗洋,等. Delta系列并联机器人研究进展与现状[J]. 机器人, 2014, 36(3): 375-384.
伞红军,钟诗胜,王知行. 新型2-TPR/2-TPS空间4自由度并联机构[J]. 机械工程学报, 2008, 44(11): 298-303.
REZA JAZAR N. 应用机器人学:运动学、动力学与控制技术[M]. 北京: 机械工业出版社, 2019.
伞红军. 新型五轴并串联机床的运动学分析与结构参数设计[D]. 哈尔滨: 哈尔滨工业大学, 2009.
伞红军,钟诗胜,王知行. 一种新型五轴并串联机床的工作空间分析[J]. 四川大学学报(工程科学版), 2010, 42(2): 243-249.
冯虎田. 滚珠丝杠副动力学与设计基础[M]. 北京: 机械工业出版社, 2014.
HUANG G,ZHANG D,TANG H, et al. Analysis and control for a new reconfigurable parallel mechanism[J]. International Journal of Advanced Robotic Systems, 2020, 17(5):1-20.
CHEN Q,ZI B,SUN Z, et al. Design and development of a new cable-driven parallel robot for waist rehabilitation[J]. IEEE-ASME Transactions on Mechatronics, 2019, 24(4): 1497-1507.
LI I,CHIANG H,LEE L. Development of a linear delta robot with three horizontal-axial pneumatic actuators for 3-DOF trajectory tracking[J]. Applied Sciences-basel, 2020, 10(10):3526.
李国勇,杨丽娟. 神经模糊预测控制及其MATLAB实现[M]. 北京: 电子工业出版社, 2018.
刘金琨. 智能控制[M]. 北京: 电子工业出版社, 2017.
REN Q,BIGRAS P. A highly accurate model-free motion control system with a Mamdani fuzzy feedback controller combined with a TSK fuzzy feed-forward controller[J]. Journal of Intelligent & Robotic Systems, 2017, 86(3): 367-379.
黄卫华. 模糊控制系统及应用[M]. 北京: 电子工业出版社, 2012.
0
浏览量
1
下载量
0
CSCD
关联资源
相关文章
相关作者
相关机构