| 自适应控制策略在并联机构上的应用 |
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| 引用本文： | 丛爽,王杨,尚伟伟.自适应控制策略在并联机构上的应用[J].制造业自动化,2007,29(7):45-49. |
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| 作者姓名： | 丛爽 王杨 尚伟伟 |
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| 作者单位： | 中国科学技术大学自动化系,合肥,230027 |
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| 基金项目： | 2006年安徽省高等学校省级教学研究资助项目 |
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| 摘 要： | 利用并联机构的动力学模型，对自适应算法在并联机构上的控制效果进行了理论及其实际实验的研究。分别采用经典PD算法和基于计算力矩的自适应控制算法对实际的并联机构进行轨迹跟踪控制。实验结果表明。无论在低速或高速的情况下。自适应算法都能够获得具有更好的位置跟踪性能的高速高精度运动，并且运动过程更加平稳。
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| 关 键 词： | 并联机构 PD控制 自适应控制 轨迹跟踪 |
| 文章编号： | 1009-0134（2007）07-0045-05 |
| 修稿时间： | 2007-02-10 |
The application of adaptive control strategy on parallel manipulator |
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| CONG Shuang,WANG Yang,SHANG Wei-wei.The application of adaptive control strategy on parallel manipulator[J].Manufacturing Automation,2007,29(7):45-49. |
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| Authors: | CONG Shuang WANG Yang SHANG Wei-wei |
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| Affiliation: | Department of Automation, University of Science and Technology of China, Hefei 230027, China |
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| Abstract: | In this paper, adaptive control theory are used on a parallel manipulator to do some academic research and experiments by means of the dynamics model of parallel manipulator. The classic PD control theory and computed torque-based adaptive control theory are both implemented on an actual parallel manipulator to track end-effector trajectory. The experiments show that better performance could be obtained on trajectory tracking in both low-speed and high-speed conditions with adaptive control proposed, and the end-effector will move much more smoothly. |
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| Keywords: | parallel manipulator PD control adaptive control trajectory tracking |
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