摘要
提出一种新的定常PID参数整定方法。该方法综合考虑机电耦合效应、全域综合性能及随位姿实时变化的惯性负载,在操作空间内设计三条带有权重的运动轨迹,利用运动学正、逆解模型及刚体动力学逆解模型,直接建立以末端执行器操作空间的方均根误差最小为优化目标的整定方案,对伺服系统控制器的参数进行了整定。通过实例分析,给出使系统在整个工作空间内趋于最优的控制器参数的范围。该方法有效地解决了传统整定方法因其多目标函数相互制约而难以得到最优解的问题。试验验证该方法的正确性和有效性。
A new tuning method of constant PID parameters for parallel manipulator is investigated. Considering the mechatronics coupling, characteristics of the whole workspace and variable inertia load along with the pose, three trajectories with different weights are selected. Then inverse kinematics and inverse dynamic model are set up by using vector method and virtual power principle. Making the minimized following trajectory errors of end effector as optimized goal, the controller parameters could be tuned. An example is adopted with one parallel manipulator-Diamond which is developed by Tianjin University, and the values of controller parameters can be given according to the above theory. The problem that the multiobjective functions contradict each other is also solved. At last, a series of experiments are done for validating the correctness and validity of the theory.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2006年第9期123-129,共7页
Journal of Mechanical Engineering
基金
国家自然科学基金(50375106)
国家留学基金(2004812032)
汕头大学智能制造技术教育部重点实验室基金(Imtsu-2002-11)资助项目
关键词
并联机械手
伺服系统
参数整定
Parallel manipulator Servo system Parameter tuning
