绳驱动并联打磨机构模糊控制策略

船舶坞修作为维护和修复船舶结构的关键环节，在船舶行业中扮演着重要的角色。然而，目前船舶坞修时表面打磨过程依赖于传统的人工作业，存在着效率低、工时长、危险性高等问题。为此，提出了一种新型绳驱动式打磨机构，该机构采用四根绳索驱动打磨装置实现三自由度的运动。首先，通过拉格朗日法建立系统的动力学模型；然后在动力学模型的基础上提出了一种带有绳索张力优化项的Fuzzy-PID(proportional integral derivative)控制策略，该控制策略可以实现精确的轨迹跟踪并保证绳索处于张紧状态；最后，通过数值仿真验证所提控制策略的有效性。结果表明，和绳牵引并联机器人上常用的PID控制相比，所提控制策略控制精度提高25%,具有较高的控制精度和稳定性。本文提出的绳驱动式打磨机构及其控制策略可为大型结构件表面处理和精密制造等应用提供一定理论支持。

Fuzzy Control Strategy for Cable-driven Parallel Grinding Mechanism

Ship docking plays an important role in the shipbuilding industry as a key part of maintaining and repairing ship structures. However, at present, the surface grinding process during ship docking relies on traditional manual work, which has problems such as low efficiency, long working hours and high danger. For this reason, this paper proposes a new cable-driven grinding mechanism, which uses four cable to drive the grinding device to achieve three degrees of freedom of movement. Firstly, the dynamics model of the system is established by Lagrangian method; then a Fuzzy-PID control strategy with cable tension optimization term is proposed on the basis of the dynamics model, which can achieve accurate trajectory tracking and ensure the cable is in tension; finally, the effectiveness of the proposed control strategy is verified by numerical simulation. The results show that the control accuracy of the proposed control strategy is improved by 25% compared with the PID control commonly used in cable-driven parallel robots, which has high control accuracy and stability. The cable-driven grinding mechanism and its control strategy proposed in this paper can provide some theoretical support for applications such as surface treatment and precision manufacturing of large structural parts.