6-PUS并联加载机构模糊PID力控制系统设计  

Design of Fuzzy PID Force Control System Based on 6-PUS Parallel Machine

作　　者：樊锐[1] 刘力军[1] 王丹[1] 郭江真[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《航空制造技术》2016年第18期34-39,52,共7页Aeronautical Manufacturing Technology

基　　金：国家自然科学基金(51305013)

摘　　要：为对数控机床主轴进行多维力加载试验,首先建立了6-PUS并联加载机构的静力学模型,得到机构力雅克比矩阵,通过力雅克比矩阵将对机构末端多维力的控制转化为对单支链力的控制;其次,设计了单支链力模糊PID控制器;最后,在机构静态下,分别以传统PID和模糊PID控制器对6-PUS并联加载机构进行了多维力加载试验,加载力为F=（200,200,200,10,10,10）~T的阶跃信号,对比发现模糊PID响应的力超调量在X、Y、Z各向均明显小于传统PID引起的超调量。In order to exert specific multi-dimensional force on the spindle of CNC machine tool, this paper establishes the statics model of load tester based on 6-PUS parallel machine and derives the force jacobian matrices by which the multi-dimension force control can be converted into single limb force control. Next, the fuzzy PID force controller for a single limb is presented. Finally, two multi-dimensional loading experiments implemented with traditional PID controller and fuzzy PID controller respectively are carried out and the step force signal is F =（200,200,200 10,10,10）T. By comparing the experimental results, it is found that overshoot of x direction, y direction and z direction in fuzzy PID controller experiment are obviously smaller than that in traditional PID controller experiment.

关 键 词：并联机构 力雅克比 多维力控制 模糊PID 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]