摘要
为提高并联机构运动精度,以2自由度平面并联机构为模型,研究了提高并联机构轨迹跟踪精度的方法。在机构运动学分析的基础上,应用Lagrange乘子法建立并联机构的动力学模型。利用非线性系统的线性反馈理论,考虑动力学建模的模型误差和外界干扰等不确定因素,提出了一种鲁棒轨迹跟踪控制策略。该控制方法能够保证系统稳定,同时对外界干扰具有抑制作用。仿真表明,鲁棒轨迹跟踪控制可以显著减小跟踪误差,加快误差收敛速度。这种控制策略同样适用于其他类型的并联机构。
Tracking errors affect the motion accuracy of parallel mechanisms. This paper describes a method to reduce tracking errors of parallel mechanisms using a planar parallel mechanism with two degrees of freedom as an example. The mechanism dynamics are deduced from the kinematics using the Lagrange multiplier approach. The robust trajectory tracking control strategy accounts for model errors and external disturbances using linear feedback theory for the non-linear system, which ensures system stability and limits the effects of disturbances. Simulations show that the trajectory tracking control significantly reduces tracking errors with faster error convergence speed. The control method can be applied to various kinds of parallel mechanisms.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2005年第5期642-646,共5页
Journal of Tsinghua University(Science and Technology)
基金
国家自然科学基金资助项目(50305016)
国家"八六三"高技术项目(2002AA421180)
关键词
并联机构
动力学
鲁棒轨迹跟踪控制
parallel mechanism
dynamics
robust trajectory tracking control
