[1]郑亚青.含弹性索的绳牵引并联机构的动力学和末端轨迹控制[J].华侨大学学报(自然科学版),2018,39(6):794-800.[doi:10.11830/ISSN.1000-5013.201808001]
　ZHENG Yaqing.Dynamics and End Trajectory Control of 2-Cable-Driven Parallel Mechanism With Elastic Cable[J].Journal of Huaqiao University(Natural Science),2018,39(6):794-800.[doi:10.11830/ISSN.1000-5013.201808001]
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含弹性索的绳牵引并联机构的动力学和末端轨迹控制()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第39卷
期数:
2018年第6期
页码:
794-800
栏目:
出版日期:
2018-11-20

文章信息/Info

Title:
Dynamics and End Trajectory Control of 2-Cable-Driven Parallel Mechanism With Elastic Cable
文章编号:
1000-5013(2018)06-0794-07
作者:
郑亚青1; 2
1. 华侨大学 机电及自动化学院, 福建 厦门 361021;2. 拉瓦尔大学 机械工程系, 魁北克省 魁北克市 G1V 0A6
Author(s):
ZHENG Yaqing1; 2
1. College of Mechanical Engineering and Automation, Huaqiao University, Xiamen 361021, China; 2. Department of Mechanical Engineering, Laval University, Quebec G1V 0A6, Canada
关键词:
绳牵引;  并联机构;  弹性索;  动力学;  微分平坦性;  轨迹控制
Keywords:
wire-driven;  parallel mechanism;  elastic cable;  dynamics;  differential flatness;  trajectory control
分类号:
TP24
DOI:
10.11830/ISSN.1000-5013.201808001
文献标志码:
A
摘要:
为了能为实际应用提供更多的机构构型选择及更有效地研究机构动力学和轨迹控制问题,以2索(一索为弹性索;另一索为普通无质量无弹性刚性索)牵引末端执行器实现2个方向平动运动的2T机构为例,研究其动力学和末端轨迹控制问题.首先,在末端执行器运动方程的基础上,推导机构系统的逆动力学公式,给出机构动力学系统的状态空间表示及体现其具有微分平坦性的非正式表达;接着,利用非线性控制理论的线性化过程严格证明该微分平坦性,并获得微分平坦输出量和微分同胚于机构动力学系统的拥有Brunovsky正则形式的线性化和解耦化的等价系统;最后,通过针对该等价系统设计外环线性状态反馈控制器,实现末端执行器的渐近稳定轨迹跟踪,并进行实例控制仿真研究.结果表明:控制仿真可实现末端轨迹渐近稳定跟踪,稳定之后的跟踪误差值为0;但在稳定之前存在轨迹跟踪误差和振荡时间,这可通过优化反馈控制增益或修正反馈控制器来改善.
Abstract:
In order to provide more choices for mechanism types in practical applications as well as more efficiency to solve the problem of dynamics and trajectory control, a kind of 2T cable-driven parallel mechanism with one elastic cable and one massless rigid strut was presented which can make the end-effector implement 2 directional translations. At first the inverse dynamics formulation was derived based on the motion equations of the end-effector, and the state-space representation of dynamics system as well as the informal representation of its differential flatness was given. Then the proof of differential flatness was strictly proven by using the linearization of nonlinear control theory and the flat outputs were obtained. The linearized and decoupled system in Brunovsky canconical form diffeomorphic to the previous system was also achieved. An outer linearized feedback controller was designed to implement the asymptotically stable trajectory tracking of the end-effector. The results of control simulation have indicated that the asymptotical stability can be realized by controlsimulation and the tracking error was 0 after stability. However the tracking error and oscillation time before the stability should be improved by optimizing the control feedback gains or correcting feedback controller.

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备注/Memo

备注/Memo:
收稿日期: 2018-08-01
通信作者: 郑亚青(1974-),女,副教授,博士,主要从事绳牵引并联机器人的研究.E-mail:yq-zheng@hqu.edu.cn.
基金项目: 福建省自然科学基金资助项目(Z1725057); 福建省出国留学奖学金资助项目(2016年度); 福建省泉州市科学技术协会人才培养培育项目(Z1724087)
更新日期/Last Update: 2018-11-20