| 2-DOF绳索驱动并联机构轨迹跟踪控制 |
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| 引用本文： | 姜雷杰,高丙团,刘传德,朱振宇. 2-DOF绳索驱动并联机构轨迹跟踪控制[J]. 控制与决策, 2019, 34(5): 1103-1108 |
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| 作者姓名： | 姜雷杰 高丙团 刘传德 朱振宇 |
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| 作者单位： | 东南大学电气工程学院,南京,210096;东南大学电气工程学院,南京,210096;东南大学电气工程学院,南京,210096;东南大学电气工程学院,南京,210096 |
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| 基金项目： | 东南大学优秀青年教师科研计划项目(2242015R30024)；江苏省“六大人才高峰”第十一批高层次人才计划项目(2014-ZBZZ-001). |
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| 摘 要： | 基于PD控制和前馈控制方法,对2-DOF的绳索驱动并联机构的空间运动控制问题进行研究.首先,基于拉格朗日方程建立系统的空间运动数学模型.为了保证所有绳索在机构的工作空间范围内始终处于张紧状态,绳索内力原则被应用于所提的控制方法中.然后,基于李雅普诺夫稳定性理论,给出闭环系统的稳定性证明.最后,为了检验所提控制策略的正确性,给出仿真和实验结果.仿真和实验结果的近似一致性证明了所提控制策略的有效性和合理性.
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| 关 键 词： | 绳索驱动 拉格朗日方程 PD控制 前馈控制 轨迹跟踪 |
Trajectory tracking control of a 2-DOF cable-driven parallel mechanism |
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| JIANG Lei-jie,GAO Bing-tuan,LIU Chuan-de and ZHU Zhen-yu. Trajectory tracking control of a 2-DOF cable-driven parallel mechanism[J]. Control and Decision, 2019, 34(5): 1103-1108 |
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| Authors: | JIANG Lei-jie GAO Bing-tuan LIU Chuan-de ZHU Zhen-yu |
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| Affiliation: | School of Electrical Engineering,Southeast University,Nanjing210096,China,School of Electrical Engineering,Southeast University,Nanjing210096,China,School of Electrical Engineering,Southeast University,Nanjing210096,China and School of Electrical Engineering,Southeast University,Nanjing210096,China |
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| Abstract: | The space motion control problem of a 2-DOF cable-driven parallel mechanism is studied based on PD control and feed-forward control method. Firstly, the space motion mathematical model of the system is formulated based on the Lagrange''s equation. In order to ensure that all the cables have always remained in tension in the workspace of the mechanism, the cable internal force principle is applied to the proposed control method. Then, based on the Lyapunov stability theory, the stability of the closed-loop system is proved. Finally, to test the correctness of the proposed control strategy, simulation and experiment results are given. Approximate consistency between simulation and experimental results proves the validity and the rationality of the proposed control strategy. |
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