论文部分内容阅读
根据绳牵引并联机器人系统的耦合性和非线性,以6-DOF八绳牵引并联机器人(WDPR-8)系统为研究对象,设计了一种基于系统动力学方程的PD控制律,并构造出一种李雅普诺夫函数;基于李雅普诺夫稳定性理论以及La Salle定理对非线性并联控制系统进行稳定性分析,结果表明WDPR-8支撑系统呈渐进稳定特性.最后针对用于风洞试验的飞机模型支撑,通过仿真实验验证了所设计控制律的正确性和可行性.仿真结果证明系统的控制性能良好,可为实际应用提供依据.
According to the coupling and nonlinearity of the parallel towed robot system, a 6-DOF eight-rope towing parallel robot (WDPR-8) system is taken as the research object. A PD control law based on the system dynamic equation is designed and a Based on the Lyapunov stability theory and La Salle’s theorem, the stability analysis of the nonlinear parallel control system is shown. The results show that the WDPR-8 support system is asymptotical and stable. Finally, for the aircraft model used in wind tunnel test The simulation results verify the correctness and feasibility of the proposed control law.The simulation results show that the control performance of the system is good and can provide the basis for practical application.