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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。
A simple and convenient control strategy is proposed, which is based on the kinematic characteristics of the new orthogonal six degree of freedom parallel mechanism moving platform system. Firstly, the inverse kinematics of the moving platform is analyzed and the inverse kinematics equation is established. Then, The mathematic model of brushless motor is established. The displacement vector of each moving branch is obtained from the expected trajectory of the given platform centroid, which is used as the system input of the semi-displacement closed loop formed by the driving motor and the encoder. A fuzzy PID self-tuning controller is designed, and the controller is used to track the change of the branch length. Finally, the simulation experiment is carried out. The results show that the designed fuzzy PID self-tuning controller can significantly improve the dynamic performance of the control system, and has the advantages of fast response, short adjustment time, good stability and anti-interference ability, and can quickly track the given The change of rod length improves the dynamic performance of the system, and proves the effectiveness of the control method, which lays the foundation for the control of the movable platform of PSS 3-2-1 orthogonal parallel mechanism.