基于相关耦合的并联四轴电动伺服平台鲁棒控制

4TPS-PS并联电动平台由4个伺服电机协同驱动，实现3个转动和1个移动自由度，为提高平台运动的位姿轨迹精度，需要实现四轴的非线性同步。该文推导非线性相关耦合误差，兼顾各轴的跟踪误差和同步误差，提出一种基于该误差的鲁棒控制方法，设计基于非线性相关耦合误差和滑模变结构控制理论的鲁棒控制算法。进行仿真和实验研究，结果表明，该控制策略具有较强的稳定性，提高了各轴的非线性同步特性，从而实现平台的高精度轨迹跟踪，平均位姿跟踪精度优于0.07°。

Robust Control of Parallel Four-axis Electric Servo Platform Based on Relative Coupling Error

The 4TPS-PS parallel platform is driven by four servo motors, whose upper plate can rotate around three coordinate axes and translate along one coordinate axis. In order to improve the pose tracking precision, nonlinear synchronization must be realized. A nonlinear relative coupling error is deduced, which includes tracking errors and synchronization errors. A robust control strategy based on the nonlinear relative coupling error and the sliding mode variable structure theory is presented and designed. The robust pose servo control of 4TPS-PS platform is carried out by simulation and experiment, and results show that the control strategy is effective and steady. By using the strategy, the nonlinear synchronization of four motors and the tracking precision of the platform is improved, the average pose tracking precision is less than 0.07°.