6自由度绳索牵引并联机器人的快速终端滑模同步控制  

Fast Terminal Sliding Mode Control with Synchronization Error for a 6-DOF Cable-driven Parallel Robot

作　　者：邓槟槟 尚伟伟[1] 张彬 丛爽[1] DENG Binbin;SHANG Weiwei;ZHANG Bin;CONG Shuang(Department of Automation,University of Science and Technology of China,Hefei 230027)

机构地区：[1]中国科学技术大学自动化系,合肥230027

出　　处：《机械工程学报》2022年第13期50-58,共9页Journal of Mechanical Engineering

基　　金：国家自然科学基金(62173316,51675501);安徽省杰出青年基金(2108085J32)资助项目。

摘　　要：由于绳索牵引方式的特殊性,绳索牵引并联机器人的控制一直面临着绳索张力为正的约束和模型不确定性的挑战。针对这些问题,将绳索之间的同步协调运动与快速终端滑模技术相结合,设计了一种全新的快速终端滑模同步控制策略。一方面,通过协调相邻绳索的运动有效地抑制了绳索的松弛,保证绳索张力为正;另一方面,借助快速终端滑模的有限时间收敛特性,加快误差收敛,从而提高了系统的轨迹跟踪精度。在八根绳索牵引的6自由度并联机器人平台上,完成了空间三角形轨迹的跟踪控制仿真与试验。与增广PD控制策略和同步控制策略的对比结果表明,所提控制策略可以有效实现所有绳索的同步协调运动、以更快的速度让误差收敛,最终在轨迹跟踪任务中表现出更好的控制性能。Because of the structural characteristics of the cable-driven form, the control of cable-driven parallel robots is always faced with the constraint that the cable tension must be kept positive and the challenge of model uncertainties. In order to solve these problems, a novel fast terminal sliding mode control with synchronization error(FTSMC-SE) is proposed by combining the synchronization motion between cables and the fast terminal sliding mode. For one thing, through coordinating the motion of adjacent cables, the cable slack is effectively restrained, that is cable tension remains positive. For another thing, by taking advantage of the finite-time convergence property of the fast terminal sliding mode, the trajectory tracking accuracy is improved owing to the faster error convergence. The trajectory tracking simulations and experiments are implemented on a 6-DOF parallel robot driven by 8 cables.Compared with the augmented PD control strategy and the synchronization control strategy, the proposed control strategy can significantly ensure the synchronization motion of all cables, converge the errors at a faster speed, and eventually achieve better control performance during the trajectory tracking tasks.

关 键 词：绳索牵引并联机器人 同步运动 快速终端滑模 误差收敛 

分 类 号：TG156[金属学及工艺—热处理]