高速绳牵引摄像机器人的运动稳定控制  

Motion stable control for cable-driven parallel camera robots with high speeds

作　　者：韦慧玲[1] 仇原鹰[1] 盛英[1] WEI Huiling QIU Yuanying SHENG Ying(Ministry of Education Key Lab. of Electronic Equipment Structure, Xidian Univ., Xi＇an 710071, China)

机构地区：[1]西安电子科技大学电子装备结构设计教育部重点实验室,陕西西安710071

出　　处：《西安电子科技大学学报》2016年第5期63-69,104,共8页Journal of Xidian University

基　　金：国家自然科学基金资助项目(51175397)

摘　　要：针对大柔度绳索牵引摄像机器人难以实现高速稳定运动的难题,提出了一种运动稳定控制方法.首先建立动力学模型,进而规划了能够反映摄像机器人对高机动性目标稳定跟踪的轨迹,并对轨迹进行了高阶多项式插值以提高摄像机平台启停运动的平稳性.然后,设计了基于末端位置空间的比例微分前馈控制器和干扰观测器组成的混合控制器以实现运动的稳定控制.最后进行了摄像机器人快速变向运动的数值仿真分析.A method for motion stability control is proposed on the problem that it is difficult for the camera robot to achieve the high speed and steady movement. First, the dynamic model is established. Then, the trajectory of the camera robot to the stable tracking of high maneuverability target is planned. And, high order polynomial interpolation is performed to improve the stability of the start and stop motion for the camera platform. Furthermore, a hybrid controller based on the PD feed forward controller and disturbance observer is designed in order to achieve stable motion. Finally, the rapid turning motion is discussed by numerical simulation, and the validity of the proposed method is verified.

关 键 词：摄像机器人 动力学 轨迹规划 机动跟踪 稳定性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]