欠约束绳牵引并联支撑系统运动学分析与鲁棒控制  

Kinematics analysis and control of under-constrained cable-driven parallel suspension systems

作　　者：王晓光 吴军 林麒 WANG Xiaoguang;WU Jun;LIN Qi(Department School of Aerospace Engineering,Xiamen University,Xiamen 361005,China)

机构地区：[1]厦门大学航空航天学院,厦门361005

出　　处：《清华大学学报（自然科学版）》2021年第3期193-201,共9页Journal of Tsinghua University(Science and Technology)

基　　金：国家自然科学基金资助项目(11702232);中央高校基本科研业务费(20720180071)。

摘　　要：欠约束绳牵引并联机器人可以为风洞受迫/自由动态试验提供一种新的支撑方式。该文针对多输入、多输出、具有不确定性的欠约束绳牵引并联支撑系统,研究其运动特性并提出一种基于非线性干扰观测器的计算力矩控制方法。首先,针对欠约束系统几何静力耦合问题,采用自适应粒子群算法对运动学进行求解与分析,确定初始平衡状态。其次,采用计算力矩控制方法,并考虑实际系统存在外部干扰等,设计非线性干扰观测器予以补偿;基于Lyapunov函数法证明闭环系统的稳定性。最后,以风洞动态试验中典型的单自由度正弦振荡以及双自由度运动轨迹为例进行仿真。结果表明:该控制方法能够有效补偿外部干扰,在期望轨迹上可以实现高精度跟踪,且绳拉力始终保持张紧状态;同时还能模拟未受控方向的自由运动特性。上述研究成果可为欠约束绳牵引并联支撑在风洞试验中的实际应用提供技术支撑。Under-constrained cable-driven parallel suspension systems can be used to support wind tunnels for forced and free dynamics tests. This paper describes the motion characteristics of an under-constrained cable-driven parallel suspension system and a computed torque control method based on a nonlinear disturbance observer. An adaptive particle swarm optimization algorithm was used to solve the coupled equations for the kinematics and statics of the under-constrained system to determine the initial equilibrium state. A computed torque controller was designed based on the dynamics equations with a nonlinear disturbance observer used to compensate for the external interference. The system stability was proven by the Lyapunov function method. Then, the control system was used to control typical dynamic responses in wind tunnel tests, such as single degree-of-freedom(DOF) sinusoidal oscillations and two DOF motion. The results show that the control method effectively compensates for external disturbances with accurate tracking of the desired trajectory while always keeping the cables taut. The system can also simulate an aircraft model’s free motion in uncontrolled directions. Thus, this research describes how to use an under-constrained cable-driven parallel suspension system to improve wind tunnel tests.

关 键 词：绳牵引并联机器人 欠约束 几何静力耦合 干扰观测器 计算力矩控制 

分 类 号：TP311.51[自动化与计算机技术—计算机软件与理论]