PSS 3-2-1正交并联机构动平台的位姿控制

提出了一种便于实现的,简单方便的控制策略,即基于新型正交六自由度并联机构动平台系统的运动学特性,首先对动平台的逆运动学进行分析,建立逆运动学方程,然后建立无刷电动机的数学模型,由给定的平台质心的预期轨迹,通过逆解解出各运动支链的位移矢量,将其作为由驱动电机和编码器构成的半位移闭环的系统输入量,设计了一个模糊PID自整定控制器,用控制器对支链杆长变化进行跟踪,最后进行仿真实验。结果表明了所设计的模糊PID自整定控制器比模糊PID控制器能明显地改善控制系统的动态性能,具有响应速度快,调节时间短,稳定性好,抗干扰能力强,可以快速跟踪给定杆长变化,提高了系统的动态性能,证明了该控制方法的有效性,为PSS 3-2-1正交并联机构动平台的控制奠定了基础。

Positional Posture Control for PSS 3-2-1 Orthogonal Parallel Mechanism Moving Platform

It puts forward a simple and convenient control strategy which is easy to realize,i.e.based on the kinematics characteristics of the new orthogonal six degrees of freedom parallel mechanism moving platform system.Firstly we analyze the inverse kinematics of the moving platform,establish inverse kinematics equations.Then we establish the mathematical model of brushless motors,work out the displacement vector of each kinetic branched chain through the inverse solution from the expected track of the given platform centroid,treat it as the half displacement closed-loop input quantity of the system which is composed of the drive motor and encoder,design a fuzzy PID self-tuning controller,and track the chain length change with controller.At last we proceed the simulation experiment.The results show that the designed fuzzy PID self-tuning controller can obviously improve the dynamic property of control system with fast response,short setting time,good stability,and strong anti-interference ability than fuzzy PID controller.In addition,the designed fuzzy PID self-tuning controller can track the given length change quickly,improve the dynamic property of the system,prove the validity of this control method and lay a foundation for the control of PSS 3-2-1 orthogonal parallel mechanism moving platform system.