| 6-(P-2P-S)并联宏动平台的轨迹跟踪控制 |
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| 引用本文： | 张典范,高峰.6-(P-2P-S)并联宏动平台的轨迹跟踪控制[J].燕山大学学报,2009,33(3). |
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| 作者姓名： | 张典范 高峰 |
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| 作者单位： | 1. 燕山大学机械工程学院,河北秦皇岛,066004
2. 燕山大学机械工程学院,河北秦皇岛066004;上海交通大学机械系统与振动国家重点实验室,上海200030 |
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| 摘 要： | 提出了一种新型6-(P-2P-S)并联宏动平台,应用凯恩方法建立了该机构的刚体动力学模型.采用分散控制策略对各分支独立控制,建立了单通道驱动关节空间的CARIMA模型,并针对广义预测控制(GPC)计算量大的缺陷,提出了一种模糊自适应直接广义预测控制(FDGPC)方法,该方法利用模糊逻辑系统直接设计预测控制器,并基于广义误差估计值对控制器参数θu和广义误差估计值中的未知向量θe进行自适应调整,轨迹跟踪控制仿真结果验证了该方法具有很强的鲁棒性,可实现并联宏动平台的高速高精度定位.
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| 关 键 词： | 6-(P-2P-S)并联宏动平台 动力学分析 模糊自适应控制 直接广义预测控制 |
Tracking control for 6- (P-2P-S) parallel macro manipulator |
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| ZHANG Dian-fan,GAO Feng.Tracking control for 6- (P-2P-S) parallel macro manipulator[J].Journal of Yanshan University,2009,33(3). |
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| Authors: | ZHANG Dian-fan GAO Feng |
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| Institution: | 1. College of Mechanical Engineering;Yanshan University;Qinhuangdao;Hebei 066004;China;2. State Key Laboratory of Mechanical System and Vibration;Shanghai Jiaotong University;Shanghai 200240;China |
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| Abstract: | A novel 6- (P-2P-S) parallel macro manipulator is put forward. Based on the KANE method, the dynamic model is established. The decontralized control is used to control the branches independently. According to the CARIMA model of a driven joint space, a fuzzy adaptive direct generalized predictive control (FDGPC) method is proposed. The method is presented to overcome the high load of computing of traditional GPC. In this method, a fuzzy logic system is used to design predictive controller directly, and both... |
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