3-RPS并联机构SMC控制系统仿真  

SMC Control System Simulation of 3-RPS Parallel Mechanism

作　　者：朱城伟 朱大昌[1] 陈健伟[1] 张荣兴[1] ZHU Cheng-wei;ZHU Da-chang;CHEN Jian-wei;ZHANG Rong-xing(School of Mechanical&Electrical Engineering,Jiangxi University of Science&Technology,Jiangxi Ganzhou 341000,China)

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《机械设计与制造》2018年第9期119-122,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(51165009;51105077);中国博士后科学基金资助项目(2013M541874);江西省自然科学基金重点资助项目(20142BAB206019);江西省教育厅科技计划项目(GJJ14422);江西省科技厅-江西省自然科学基金项目(20151BAB206034)

摘　　要：由于并联机构难以建立相应的Jacobian矩阵,运用微运动法构建3-RPS并联机构构型的Jacobian矩阵,避免在矩阵中出现超越方程组,并通过SolidWorks建立机构的三维模型,并采用SimMechanics转化为机构仿真模型,分别设计PID控制器与滑模变结构控制器进行仿真。根据Lyapunov定理,求证SMC控制的稳定性。结果表明,对于并联机构控制仿真,SMC控制器能更加快速地趋近于稳定状态,并且稳定收敛性要好于传统PID控制,滑模变结构控制优于传统PID控制。Due to parallel mechanism is difficult to establish the corresponding Jacobian matrix.In this paper,the Jacobian matrix of the configuration of the 3-RPS parallel mechanism is constructed by the micro motion method,which avoids the transcendental equations in the matrix.Building institutional system model through SolidWorks and SimMechanics,simulation of PID controller and sliding mode variable structure controller are designed respectively.The results show that for parallel mechanism control simulation,variable structure control can quickly close to steady state,and the convergence of the better than conventional PID control.The results show variable structure control is better than conventional PID control.

关 键 词：并联机构 PID控制 SMC控制 仿真 

分 类 号：TH16[机械工程—机械制造及自动化]