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为提高并联机构运动精度,以2自由度平面并联机构为模型,研究了提高并联机构轨迹跟踪精度的方法。在机构运动学分析的基础上,应用Lagrange乘子法建立并联机构的动力学模型。利用非线性系统的线性反馈理论,考虑动力学建模的模型误差和外界干扰等不确定因素,提出了一种鲁棒轨迹跟踪控制策略。该控制方法能够保证系统稳定,同时对外界干扰具有抑制作用。仿真表明,鲁棒轨迹跟踪控制可以显著减小跟踪误差,加快误差收敛速度。这种控制策略同样适用于其他类型的并联机构。
In order to improve the movement accuracy of the parallel mechanism, a 2-DOF planar parallel mechanism is taken as a model to study the method to improve the tracking accuracy of the parallel mechanism. Based on the kinematic analysis of the mechanism, the dynamic model of the parallel mechanism is established by Lagrange multiplier method. Based on the linear feedback theory of nonlinear system and the uncertainties such as model error of dynamic modeling and external disturbance, a robust trajectory tracking control strategy is proposed. The control method can ensure system stability, while inhibiting the external interference. Simulation shows that robust trajectory tracking control can significantly reduce the tracking error and speed up the error convergence. This control strategy is equally applicable to other types of parallel mechanisms.