3-PPR并联伺服平台非线性同步鲁棒控制

doi:10.3969/j.issn.1004-132X.2020.19.001

摘要/Abstract

摘要： 3-PPR并联伺服平台由3个伺服电机协同驱动，实现平面位姿的精密调整。针对各轴运动不协同而导致轨迹精度降低的问题，基于平台的运动学分析和动力学模型，引入虚拟电机的概念，定义了平台的非线性同步误差，设计了一种非线性同步鲁棒控制器，使三轴的跟踪误差和同步误差均能渐进收敛。仿真和实验结果表明，采用该控制策略可以提高各轴的非线性同步性能，有效提高系统协同性，平台位置轨迹跟踪误差小于0.1 mm，满足3-PPR并联伺服平台在实际应用过程中的控制需求。

关键词: 平面并联机器人, 非线性同步, 鲁棒控制, 位姿跟踪, 虚拟电机

Abstract: A 3-PPR parallel servo platform was driven by three servo motors to achieve precise adjustments of plane poses. Aiming at the problems that the trajectory accuracy decreased due to the non-coordination of each axis motions, based on the kinematics analysis and dynamics model of the platforms, a concept of virtual motor was introduced herein. The nonlinear synchronization errors of the platforms were defined, and a nonlinear synchronization robust controller was designed, which made tracking errors and synchronization errors of three axes converge gradually. Results of simulations and experiments show that the control strategy may improve the nonlinear synchronization performance of three axes, effectively improve the system synergy, and the position tracking errors of the platform are less than 0.1mm, which satisfies the requirements of 3-PPR parallel servo platforms in practical applications.

Key words: planar parallel robot, nonlinear synchronization, robust control, pose tracking, virtual motor

中图分类号:

TP242
TP273

王薪宇；秦伟；孙晓军；胡小亮. 3-PPR并联伺服平台非线性同步鲁棒控制[J]. 中国机械工程, DOI: 10.3969/j.issn.1004-132X.2020.19.001.

WANG Xinyu；QIN Wei；SUN Xiaojun；HU Xiaoliang. Nonlinear Synchronous Robust Control for 3-PPR Parallel Servo Platforms[J]. China Mechanical Engineering, DOI: 10.3969/j.issn.1004-132X.2020.19.001.

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http://www.cmemo.org.cn/CN/Y2020/V31/I19/2269

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