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Synchronous smooth sliding-mode control method and system of multi-degree-of-freedom redundant parallel mechanism

A control method and a technology of degrees of freedom, applied in general control systems, control/regulation systems, adaptive control, etc., to achieve good tracking performance, improved motion synchronization and coordination, and fast convergence speed

Inactive Publication Date: 2013-02-27
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art, and propose a synchronous smooth sliding mode control method and system of a multi-degree-of-freedom redundant parallel mechanism based on a synchronous error, so as to solve the problems between the branches of the multi-degree-of-freedom redundant parallel mechanism. The problem of synchronous coordination between movements, so as to further improve its movement performance

Method used

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  • Synchronous smooth sliding-mode control method and system of multi-degree-of-freedom redundant parallel mechanism
  • Synchronous smooth sliding-mode control method and system of multi-degree-of-freedom redundant parallel mechanism
  • Synchronous smooth sliding-mode control method and system of multi-degree-of-freedom redundant parallel mechanism

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Embodiment 1

[0067] The control method of the present invention mainly focuses on improving the motion performance of the multi-degree-of-freedom redundant parallel mechanism with a new synchronous smooth sliding mode control technology, overcomes the coupling between the branches of the redundant parallel mechanism, and makes each branch of the redundant parallel mechanism Way to achieve synchronous coordinated movement. Let the multi-degree-of-freedom redundant parallel mechanism be a five-branch four-degree-of-freedom redundant parallel mechanism, which is driven by an AC servo motor. The block diagram of its branch control system is shown in figure 1 shown. The specific implementation of this control method is as follows:

[0068] 1. Establish the mathematical model of the controlled object in each control branch of the parallel mechanism with the motor drive shaft interference item

[0069] Establish the mathematical model of the controlled object of each control branch of the four-...

Embodiment 2

[0102] Such as figure 1 As shown, the synchronous smooth sliding mode control system of the multi-degree-of-freedom redundant parallel mechanism is composed of an input device, several parallel branches and the end effector of the parallel mechanism. The input device inputs the expected motion trajectory of each branch drive motor to Corresponding branches, each branch output control quantity to drive the end effector of redundant parallel mechanism, each branch is composed of synchronous error calculation module, smooth sliding mode controller, drive motor and ball screw connected in sequence, in the drive motor An incremental encoder is also provided between the output end and the input end of the synchronous error calculation module;

[0103] Incremental encoder, used to detect the actual motion state of each branch drive motor of the redundant parallel mechanism;

[0104] The synchronization error calculation module is used to calculate the deviation between the expected ...

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Abstract

The invention provides a synchronous smooth sliding-mode control method and system of a multi-degree-of-freedom redundant parallel mechanism, wherein the method comprises the following steps: using motor drivers and motors as controlled objects and using the redundant parallel mechanism as a load to establish a mathematical model of each parallel mechanism branch with disturbance terms; planning tracks of terminal actuators of the redundant parallel mechanism to obtain expected movement postures thereof, and determining an expected movement track of each branch driving motor in a process of realizing expected movement of the terminal actuators of the redundant parallel mechanism; computing the deviation between an expected movement state and an actual movement state of each branch motor; constructing a synchronous error of each branch; constructing a switch surface function based on the synchronous error; designing a synchronous smooth sliding-mode control rule based on the established mathematical model; calculating the driving control amount of each branch motor of the redundant parallel mechanism; sending the driving control amount of each branch motor of the redundant parallel mechanism to each motor actuator to drive the terminal actuators of the redundant parallel mechanism to realize the expected movement.

Description

technical field [0001] The invention relates to a motion control of a parallel mechanism, in particular to a motion control of a redundant parallel mechanism driven by an AC servo motor. Background technique [0002] Due to the advantages of high rigidity, compact structure, and strong bearing capacity, parallel mechanisms have been more and more widely used. The parallel mechanism with redundant drive can avoid the singularity of the parallel mechanism, thereby improving the performance of the parallel mechanism, but there is strong coupling between the branches of the redundant parallel mechanism, which will seriously affect the parallel mechanism in the case of high-speed periodic motion The stability and control accuracy of the system, and the difficulty in establishing the mathematical model of the multi-degree-of-freedom redundant parallel mechanism accurately bring great difficulties to the high-performance motion control of the parallel mechanism. [0003] In the ar...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
Inventor 高国琴温娟
Owner JIANGSU UNIV
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