PSS 3-2-1正交并联机构动平台的位姿控制  

Positional Posture Control for PSS 3-2-1 Orthogonal Parallel Mechanism Moving Platform

作　　者：王洪瑞[1,2] 杨毅[1] 朱奇光[1] 李志强[3] 

机构地区：[1]燕山大学西区电院工业计算机控制工程河北省重点实验室,河北秦皇岛066004 [2]河北大学电子信息工程学院,河北保定071002 [3]河北科技师范学院,河北秦皇岛066004

出　　处：《控制工程》2012年第2期274-277,282,共5页Control Engineering of China

基　　金：国际科技合作项目(2008DFR10530);河北省科技厅科技支撑计划(08393534D)

摘　　要：提出了一种便于实现的,简单方便的控制策略,即基于新型正交六自由度并联机构动平台系统的运动学特性,首先对动平台的逆运动学进行分析,建立逆运动学方程,然后建立无刷电动机的数学模型,由给定的平台质心的预期轨迹,通过逆解解出各运动支链的位移矢量,将其作为由驱动电机和编码器构成的半位移闭环的系统输入量,设计了一个模糊PID自整定控制器,用控制器对支链杆长变化进行跟踪,最后进行仿真实验。结果表明了所设计的模糊PID自整定控制器比模糊PID控制器能明显地改善控制系统的动态性能,具有响应速度快,调节时间短,稳定性好,抗干扰能力强,可以快速跟踪给定杆长变化,提高了系统的动态性能,证明了该控制方法的有效性,为PSS 3-2-1正交并联机构动平台的控制奠定了基础。It puts forward a simple and convenient control strategy which is easy to realize, i. e. based on the kinematics characteristics of the new orthogonal six degrees of freedom parallel mechanism moving platform system. Firstly we analyze the inverse kinematics of the moving platform, establish inverse kinematics equations. Then we establish the mathematical model of brushless motors, work out the dis- placement vector of each kinetic branched chain through the inverse solution from the expected track of the given platform centroid, treat it as the half displacement closed-loop input quantity of the system which is composed of the drive motor and eneoder, design a fuzzy PID self-tuning controller, and track the chain length change with controller. At last we proceed the simulation experiment. The results show that the designed fuzzy PID self-tuning controller can obviously improve the dynamic property of control system with fast response, short setting time, good stability, and strong anti-interference ability than fuzzy PID controller. In addition, the designed fuzzy PID self-tuning controller can track the given length change quickly, improve the dynamic property of the system, prove the validity of this control method and lay a foundation for the control of PSS 3-2-1 orthogonal oarallel mechanism moving platform system.

关 键 词：正交并联机构 逆运动学 模糊控制 PID参数自整定 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]