多功能体能运动训练器PMAC多轴控制方法  

Multi Axis Control Method of PMAC for Multi-Functional Physical Training Device

作　　者：郎殿栋 LANG Dian-dong(Beijing Sport University,Beijing 100084,China)

机构地区：[1]北京体育大学,北京100084

出　　处：《机械设计与制造》2022年第5期111-114,共4页Machinery Design & Manufacture

基　　金：结构化理论视角下我国幼儿体育健康教育模型的建构与应用研究(20BTY003)。

摘　　要：针对当前PMAC多轴控制方法未考虑预补偿多轴轮廓误差,导致多轴控制延误以及控制误差较大,容错率下降的问题。提出多功能体能运动训练器PMAC多轴控制方法。通过多轴轮廓误差模型,采用辨识传递函数对实际位置进行预测,完成轮廓误差的预补偿。利用浮动坐标系描述方法,构建多功能体能运动训练器的拉格朗日动力学模型,通过模糊推理中的模糊规则自适应,调整PMAC多轴控制器控制参数。采用自适应学习算法,计算隶属度函数参数,确定输入数据和输出数据,实现多功能体能运动训练器PMAC多轴控制。实验结果表明,所提方法的控制误差较小,能够有效降低控制延误,提升容错率。Aiming at the problem that the currentPMAC multi axis control method does not consider the precompensation of multi axis contour error,which leads to the delay of multi axis control,large control error and low fault tolerance rate.A multi axis control method of PMAC for multi-functional physical training device is proposed.Through the multi axis contour error model,the identification transfer function is used to predict the actual position,and the precompensation of contour error is completed.The Lagrangian dynamic model of the multi-functional physical fitness training device is constructed by using the description method of floating coordinate system,and the control parameters of PMAC multi axis controller are adjusted through the adaptive fuzzy rules in fuzzy reasoning.The adaptive learning algorithm is used to calculate the membership function parameters,determine the input data and output data,and realize the multi-axis control of PMAC.Experimental results show that the control error of the proposed method is small,which can effectively reduce the control delay and improve the fault tolerance rate.

关 键 词：多功能体能运动训练器 PMAC 多轴控制 自适应学习算法 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]