液压并联6-DOF平台轨迹跟踪的干扰力补偿  

Compensator of the disturbance force for the trajectory tracking of hydraulic 6-DOF parallel platform

作　　者：李强[1] 王宣银[1] 程佳[1] 

机构地区：[1]浙江大学流体传动及控制国家重点实验室,杭州310027

出　　处：《哈尔滨工业大学学报》2009年第7期97-101,共5页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金资助项目(50375139);新世纪优秀人才支持计划(NCET-04-0545)

摘　　要：为了消除液压并联6-DOF平台因各支链缸时变的负载耦合,以及摩擦和其他外力的干扰作用而引起的平台动态轨迹抖动现象,根据系统动力学模型的关节空间表达式,对关节干扰力的起因和对其运动的作用进行分析,在关节位置闭环控制基础上,分别设计基于结构不变性原理的支链抗负载干扰补偿器和基于系统模型的自适应滑模干扰观测补偿器,根据系统关节负载的变化率将两种补偿器利用模糊原则组合成综合补偿器,对干扰进行力闭环补偿.AMESim与MATLAB的联合仿真分析结果表明,该控制器使平台在复合干扰力作用下,能够平稳运行,与普通的位置闭环PID算法相比,有效地提高了系统的整体动态跟踪性能.In order to reduce the unsmooth phenomenon produced by coupled loads of actuating legs, friction and external disturbance force during the trajectory tracking process for the hydraulic 6dof parallel platform, a mix compensator of the disturbance force is proposed in this paper. Through analyzing the source and effect of different disturbance forces, an adaptive robust compensator and the classical compensator based on structure invarianee principle were designed to separately deal with different disturbance forces. The fuzzy law was used to combine the two compensators according to the change rate of load force of each leg. Simulation was performed with a hydraulic 6-DOF parallel platform by use of AMESim and MATLAB. The results demonstrate the effectiveness of the mix approach with compound disturbance force in performance improvement of the system contrasted to the PID controller.

关 键 词：并联平台 六自由度 轨迹跟踪 干扰力补偿 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]