Stewart-Gough平台的EtherCAT总线控制方法  

EtherCAT Bus Control Method for Stewart-Gough Platform

作　　者：丁毓峰[1] 冉冬东 龚浩岚 DING Yufeng;RAN Dongdong;GONG Haolan(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学机电工程学院,武汉430070

出　　处：《机械科学与技术》2025年第1期169-178,共10页Mechanical Science and Technology for Aerospace Engineering

基　　金：湖北省重大科技专项(2021AAA007);湖北省重点研发计划(2020BAB013)。

摘　　要：力矩控制算法可用于实现SGP(Stewart-Gough平台)的运动控制。为了降低SGP动力学模型参数的测量成本,通过求解各线性作动器的加速度,建立了关节空间内的动力学模型。为解决关节空间的计算力矩控制算法无法实时调整控制增益的问题,设计了模糊计算力矩控制器。通过建立SGP虚拟样机,并结合位姿逆解模型与动力学模型建立综合仿真系统,对模糊计算力矩控制器的性能进行仿真,仿真结果表明模糊计算力矩控制器有良好的轨迹跟踪能力。结合EtherCAT工作原理,设计开发了SGP的EtherCAT主从站控制系统,将SGP应用到动感座椅场景中进行实验验证,实验结果表明EtherCAT主从站控制系统能够满足SGP控制的实时性与同步性要求。The torque control algorithm is used to realize the motion control of SGP(Stewart-Gough platform).In order to reduce the measurement cost of SGP dynamics model parameters,the dynamics model in joint space was established by solving the acceleration of each linear actuator.In order to solve the problem that the control gain can′t be adjusted in real time in the joint space based computed torque control algorithm,the fuzzy computed torque controller is designed.Establishing a comprehensive simulation system based on SGP virtual prototype and combining the inverse solution model of position&attitude and the dynamic model,the performance of the fuzzy computational torque controller is simulated.The simulation results show that the fuzzy computed torque controller has good trajectory tracking ability.The EtherCAT(Ethernet for control automation technology)master and slave station control system of SGP is designed and developed through the combination of the working principle of EtherCAT,and the SGP is applied to the dynamic seat scene for experimental verification and analysis.The experimental results show that the EtherCAT master-slave control system can meet the real-time and synchronization requirements of SGP control.

关 键 词：Stewart-Gough平台 动力学 模糊计算力矩 虚拟样机 ETHERCAT 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]