摘要
以外移动副驱动,含平行四边形支链结构的3自由度平动并联机构为对象,提出一种鲁棒轨迹跟踪控制方法.在分别建立了机构和交流伺服电机动力学模型,及考虑了因模型简化和外部干扰造成的不确定性影响基础上设计了一种可有效抑制上述因素影响的鲁棒轨迹跟踪控制,并在理论上证明了系统的稳定收敛并具有抗干扰的能力.对不同轨迹跟踪仿真结果表明,该方法可保证跟踪误差的一致终值有界.
This paper presents a method for the design of robust trail tracking control of a 3-DOF translational parallel kinematic machine with parallelogram struts. The method takes into account both the dynamics of rigid-body of mechanical systems and servo motor. A robust trail tracking controller is designed to suppress the negative effects due to the dynamic modeling errors and undesirable disturbances. The performance and the stability of the controller were verified by computer simulation and the results show that the uniform and ultimate bound of the tracking error is guaranteed.
出处
《自动化学报》
EI
CSCD
北大核心
2007年第1期37-43,共7页
Acta Automatica Sinica
基金
国家自然科学基金(50375106
50328506)资助~~
关键词
并联机床
鲁棒控制
交流伺服电机
轨迹跟踪
Parallel kinematic machine, robust control, AC servo motor, trajectory tracing
