Variable identification and automatic tuning of the main module of a servo system of parallel mechanism |
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Authors: | Yang Zhiyong Xu Meng Huang Tian and Ni Yanbing |
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Affiliation: | (1) Department of Mechanical Engineering, Tianjin University, Tianjin, 300072, China |
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Abstract: | The variables of the main module of a servo system for miniature reconfigurable parallel mechanism were identified and automatically
tuned. With the reverse solution module of the translation, the module with the exerted translation joint was obtained, which
included the location, velocity and acceleration of the parallelogram carriage-branch. The rigid dynamic reverse model was
set as the virtual work principle. To identify the variables of the servo system, the triangle-shaped input signal with variable
frequency was adopted to overcome the disadvantages of the pseudo-random number sequence, i.e., making the change of the vibration
amplitude of the motor dramatically, easily impact the servo motor and make the velocity loop open and so on. Moreover, all
the variables including the rotary inertia of the servo system were identified by the additive mass. The overshoot and rise
time were the optimum goals, the limited changing load with the attitude was considered, and the range of the controller variables
in the servo system was identified. The results of the experiments prove that the method is accurate.
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Translated from Chinese Journal of Mechanical Engineering, 2006, 42(4): 1–7 译自: 机械工程学报] |
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Keywords: | parallel mechanism main module variable identification variable automatic tuning |
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