检索规则说明:AND代表“并且”;OR代表“或者”;NOT代表“不包含”;(注意必须大写,运算符两边需空一格)
检 索 范 例 :范例一: (K=图书馆学 OR K=情报学) AND A=范并思 范例二:J=计算机应用与软件 AND (U=C++ OR U=Basic) NOT M=Visual
作 者:刘晓飞[1] 陈冉 万波 郭孟涛 赵永生[1] LIU Xiaofei;CHEN Ran;WAN Bo;GUO Mengtao;ZHAO Yongsheng(Parallel Robot and Mechatronic System Laboratory of Hebei Province,Yanshan University,Qinhuangdao 066004)
机构地区:[1]燕山大学河北省并联机器人与机电系统实验室,秦皇岛066004
出 处:《机械工程学报》2024年第11期237-249,共13页Journal of Mechanical Engineering
基 金:国家自然科学基金资助项目(52105036)。
摘 要:以多冗余驱动并联机构2RPU+2UPR+RPR为被控对象,利用虚功原理推导了该对象的动力学模型,并基于动力学模型开展了对多冗余驱动并联机构多种控制策略的对比研究。研究分为全力驱动模式和力位混合驱动模式两类,在全力驱动模式下,又分为基于关节反馈的关节PID控制和关节增广PID控制以及基于动平台广义坐标反馈的广义PID控制、广义增广PID控制和计算力矩控制,通过仿真结果分析了上述控制策略的优劣性;在力位混合驱动模式下,首先介绍了两种比较传统的力位混合控制策略,然后提出了一种新的驱动力协调控制策略,通过仿真验证所提控制策略能够在一定程度上协调位控关节驱动力。Based on the redundant drive two turn a move 2RPU+2UPR+RPR parallel mechanism as the controlled object,using the virtual work principle is derived the dynamic model of the object,and based on the dynamic model of the multiple redundant driving parallel mechanism of the comparison of the various control strategies.The full text is divided into two categories:full force drive mode and force position hybrid drive mode.In full force drive mode,it is further divided into joint PID control and joint augmented PID control based on joint feedback,as well as generalized PID control,generalized augmented PID control,and calculated torque control based on motion platform generalized coordinate feedback.The advantages and disadvantages of the above control strategies are analyzed through simulation results;In the force position hybrid driving mode,two traditional force position hybrid control strategies were first introduced,and then a new driving force coordination control strategy was proposed.Through simulation verification,the proposed control strategy can coordinate the driving force of the position control joint to a certain extent.
分 类 号:TP242[自动化与计算机技术—检测技术与自动化装置]
正在载入数据...
正在载入数据...
正在载入数据...
正在载入数据...
正在载入数据...
正在载入数据...
正在载入数据...
正在链接到云南高校图书馆文献保障联盟下载...
云南高校图书馆联盟文献共享服务平台 版权所有©
您的IP:18.118.210.110