柔索驱动单元的模型辨识与控制器设计  

Model Identification and Controller Design of the Cable-driven Unit

作　　者：邹宇鹏 张宗源 王梦菲 张际平 来小靖 王新庆 ZOU Yupeng;ZHANG Zongyuan;WANG Mengfei;ZHANG Jiping;LAI Xiaojing;WANG Xinqing(College of Mechanical and Electronic Engineering,China University of Petroleum(East China),Qingdao 266580,Shandong,China)

机构地区：[1]中国石油大学(华东)机电工程学院,山东青岛266580

出　　处：《实验室研究与探索》2024年第3期18-22,45,共6页Research and Exploration In Laboratory

基　　金：山东省自然科学基金项目(ZR2022MF291);中国石油大学(华东)本科教学改革项目(CM2022038,CM2022034)。

摘　　要：针对并联柔索驱动机器人力场模拟应用场景下驱动单元的力伺服控制系统设计,基于Links半物理仿真环境,运用Matlab System Identification工具箱,对柔索驱动单元系统数学模型进行模型辨识,并对系统的不确定性进行辨识。结果表明,考虑柔索驱动单元的不确定性因素后实际系统模型与理论模型相吻合,且系统理论模型具有较高的可靠性。在可靠的理论模型基础上,对柔索驱动单元进行控制器设计,并验证了模型辨识方法的有效性。基于模型辨识的控制器设计方法可以推广到其他类型系统的模型辨识。For the design of the force servo control system of the drive unit in the force field simulation application scenario of the parallel cable driven robot,a mathematical model of the system is established,and the accuracy of the mathematical model is verified.Based on links of semi-physical simulation environment,using Matlab System Identification toolbox,the mathematical model of the cable drive unit system is verified,and the uncertainty of the system is identified.The results show that considering the uncertainties of the cable drive unit,the actual system model is consistent with the theoretical model,and the theoretical model of the system has high reliability.Based on the reliable theoretical model,the controller of the cable drive unit is designed,and the effectiveness of the model identification method is proved.The controller design method based on model identification can be extended to other types of systems.

关 键 词：模型辨识 力伺服系统 半物理仿真 柔索驱动单元 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]