3-HSS并联机床动力学建模及鲁棒轨迹跟踪控制  

DYNAMIC MODELING AND TRAIL TRACKING RUBOST CONTROL OF 3-HSS PARALLEL KINEMATIC MACHINE

作　　者：杨志永[1] 黄田[1] 倪雁冰[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机械工程学报》2004年第11期75-81,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50075059);天津市"十五"重点攻关;汕头大学智能制造技术教育部重点实验室基金(Imtsu-2002-11)资助项目

摘　　要：研究一种3-HSS并联机床动力学建模及鲁棒轨迹跟踪控制方法。首先导出了外移动副驱动,含平行四边形支链结构的并联机构位置、速度及加速度逆解模型,并利用虚功原理建立其刚体动力学逆解模型。在此基础上,考虑其运动部件重力及模型误差,为保证其跟踪精度,设计了一种鲁棒轨迹跟踪控制器,确保了跟踪误差的一致终值有界性。最后通过对全工作空间内圆形轨迹的仿真可知该控制方法具有很好的稳定性和有效性。Dynamics of a type of 3-HSS parallel kinematic machine is dealt with, and the research on the trail tracking control method is also done at the same time. First, the reverse solution model of position, velocity and acceleration of parallel kinematic machine is deduced including parallelogram strut structure and the outer translation pair driving fashion. Based on the above, its rigid dynamic model is set up by using the virtual work principle. Considering the gravity of moving part and error of dynamic model, a robust trail tracking controller is adopted to ensure the tracking precision, which guarantees the uniform and ultimate bound of the tracking error. At last, the stability and validity of above controller are proved through the simulation on the circular trail in the whole workspace.

关 键 词：并联机床 动力学建模 鲁棒控制 轨迹控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]