新型运动冗余驱动并联机构的控制方法  

Control method of a new redundant drive parallel mechanism

作　　者：李善锋[1] 杨倩[2] LI Shanfeng;YANG Qian(Office of Academic Affairs,Jilin Railway Technology College,Jilin 132200,Jilin,China;School of Electrical Engineering,Suihua University,Suihua 152000,Heilongjiang,China)

机构地区：[1]吉林铁道职业技术学院教务处,吉林吉林132200 [2]绥化学院电气工程学院,黑龙江绥化152000

出　　处：《中国工程机械学报》2020年第2期119-124,共6页Chinese Journal of Construction Machinery

基　　金：吉林省科技厅资助项目(20150101026JC,20150520109JH);吉林省教育厅资助项目(20150158)。

摘　　要：对并联结构的运动轨迹进行准确、平稳的控制,有利于提高其工作效率。对此,设计了一种3-RPR冗余驱动并联机构控制方法。首先,在不同的两个坐标系中,利用移动副和转动副组成的3条支链,设计了一种3-RPR冗余驱动并联结构,以克服3-RPR非冗余驱动并联机构存在的奇点效应。求取了3-RPR冗余驱动并联结构中各驱动机构、关节点的速度以及加速度方程,以分析其运动学。然后,以预设轨迹和实际轨迹间的误差为依据,构建了滑膜面方程。利用滑膜面方程求取了参考速度与加速度,定义了自适应滑模控制器,求取了驱动力。最后,采用自适应滑模控制器与神经网络控制器对不同预设轨迹进行了追踪实验,在对简单预设轨迹追踪时,本文方法比神经网络控制器在水平、垂直方向上的追踪误差减少了48.15%和44.91%。在对复杂预设轨迹追踪时,本文方法比神经网络控制器在水平、垂直方向上的追踪误差减少了28.69%和28.80%。说明本文方法对3-RPR非冗余驱动并联机构的运动控制特性较好,能够对其运动轨迹进行准确的控制。The accurate and stable control of the parallel structure’s motion track is helpful to improve its working efficiency.In this paper,a 3-RPR redundant drive parallel mechanism control method is designed.First of all,in two different coordinate systems,a 3-RPR redundant drive parallel structure is designed by using three branches composed of moving pair and rotating pair to overcome the singularity effect of 3-RPR non redundant drive parallel mechanism.The velocity and acceleration equations of each driving mechanism and joint point in the 3-RPR redundant driving parallel structure are obtained to analyze its kinematics.Then,based on the error between the preset trajectory and the actual trajectory,the synovial surface equation is constructed.The reference velocity and acceleration are obtained by using the equation of sliding surface,the adaptive sliding mode controller is defined,and the driving force is obtained.Finally,the tracking experiments of different preset trajectories are carried out by using the adaptive sliding mode controller and the neural network controller.When tracking the simple preset trajectories,the tracking error of this method is 48.15%and 44.91%less than that of the neural network controller in the horizontal and vertical directions.When tracking complex preset trajectory,the tracking error of this method is 28.69%and 28.80%less than that of neural network controller in horizontal and vertical directions.It shows that the method in this paper has better motion control characteristics for 3-RPR non redundant drive parallel mechanism,and can accurately control its motion trajectory.

关 键 词：3-RPR冗余驱动并联机构 滑膜控制 自适应滑模控制器 滑模面 

分 类 号：U463[机械工程—车辆工程]