4TPS-1PS四自由度并联电动平台动力学建模与位姿闭环鲁棒控制  

Dynamic modeling and robust control in task space of 4-DOF parallel electric platform with 4TPS-1PS structure

作　　者：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,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2009年第8期1492-1496,1548,共6页Journal of Zhejiang University：Engineering Science

基　　金：教育部新世纪优秀人才支持计划(NCET-04-0545)

摘　　要：4TPS-1PS四自由度并联平台是针对稳定跟踪系统需要而设计的一种新型并联机构,具有3个独立的转动自由度和1个移动自由度.对该新型并联平台进行运动学分析,将其分为上平台、电动缸、从动支链3个部分,利用拉格朗日方法建立了完整动力学模型,在此基础上提出一种适用于该并联平台的位姿闭环鲁棒控制策略.采用该并联平台特有的实时正解得到上平台实际位姿进行反馈,将平台作为一个整体进行控制,在任务空间内设计滑模变结构控制器,进行两自由度复合运动控制实验.结果表明,该控制策略是有效的,提高了平台的轨迹跟踪精度,平均位姿跟踪精度优于0.05°.The 4TPS-1PS parallel platform designed for the stabilization and tracking system is a novel lower-mobility parallel mechanism, which has four degrees of freedom including rotations around three coordinate axes and translation along one coordinate axis. The dynamics model of the 4TPS-1PS platform including upper plate, electric cylinders and slave leg was built by Lagrange method based on kinematics analysis. The platform was controlled as a whole, and a robust controller in task space was presented, in which the platform＇s pose was computed out by realtime forward kinematics and was taken as the feed- back. A sliding mode variable structure controller was designed in task space. The experimental results of two-degrees-of-freedom rotation showed that the performance of the platform was improved and the pose tracking precision was less than 0.05°.

关 键 词：任务空间 滑模变结构 动力学建模 四自由度并联机构 电动平台 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]