| 平面冗余驱动并联机构自适应滑模同步控制 |
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| 引用本文： | 龙亿,杨晓钧,李兵.平面冗余驱动并联机构自适应滑模同步控制[J].中国机械工程,2013,24(20):2730-2735. |
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| 作者姓名： | 龙亿 杨晓钧 李兵 |
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| 作者单位： | 哈尔滨工业大学深圳研究生院,深圳,518055 |
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| 基金项目： | 国家自然科学基金资助项目(51105089)
National Natural Science Foundation of China（No. 51105089） |
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| 摘 要： | 基于Kane方程，建立了平面二自由度冗余驱动并联机构的动力学模型。基于轨迹轮廓误差，定义了机构的同步误差及滑模面，将动力学方程线性化，设计了自适应滑模同步控制器并对机构进行了稳定性分析。通过MATLAB仿真计算，并与计算力矩法进行比较发现，自适应滑模同步控制法优于计算力矩法，能够很好地实现轨迹跟踪。
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| 关 键 词： | 冗余驱动 Kane方程 自适应滑模控制 同步 |
Adaptive Sliding Mode Synchronous Control of a Planar Redundantly Actuated Parallel Mechanism |
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| Long Yi,Yang Xiaojun,Li Bing.Adaptive Sliding Mode Synchronous Control of a Planar Redundantly Actuated Parallel Mechanism[J].China Mechanical Engineering,2013,24(20):2730-2735. |
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| Authors: | Long Yi Yang Xiaojun Li Bing |
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| Affiliation: | Harbin Institute of Technology Shenzhen Graduate School,Shenzhen,Guangdong,518055 |
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| Abstract: | Based on Kane equation, a planar 2-DOF redundantly actuated parallel mechanism dynamics model was formulated. With trajectory contour error, the synchronization error was defined and the sliding surface was determined. After dynamic equation linearization, an adaptive sliding mode synchronous controller was designed with a stability analysis. MATLAB simulation results show that the adaptive sliding mode synchronous control can be able to achieve good trajectory tracking compared with general computed torque method. |
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| Keywords: | redundant actuation Kane equation adaptive sliding mode control synchronization |
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