Design method for robustness controller of airborne parallel-connected platform
A technology of robust controller and design method, applied in general control system, adaptive control, control/regulation system, etc., can solve problems such as inaccurate establishment of dynamic model of parallel robot, external environment interference, etc., and achieve elimination of high frequency Dithering, effects that enhance usability
Inactive Publication Date: 2014-06-18
TIANJIN POLYTECHNIC UNIV
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At present, most of the research on the robust control of this system is basically aimed at the existence of parameter perturbation and external environment disturbance, but because the dynamic model of parallel robot cannot be accurately established, there must be non-parametric inaccuracies in the actual parallel robot system. Determinism, such as model-free dynamic characteristics, the influence of friction on each joint of the robot, etc., if you want to achieve high control accuracy, these factors cannot be ignored
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[0015] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0016] The present invention takes the six-degree-of-freedom parallel platform carried by the machine (vehicle) as the research object (such as figure 1 Shown), its fixed platform ④ is fixed on the locomotive (vehicle) body. Since the body has a certain pose during the movement process and cannot always be kept horizontal, the pose of the fixed platform of the machine (vehicle) borne parallel platform is dynamically changed, which is different from the static parallel platform in the past. The position of the worktable is controlled by six parallel telescopic rods ② and universal hinge ① to ensure that the work platform ③ is always in a horizontal state, so that the load posture remains stable during operation.
[0017] (1) Considering the characteristics of the actual system, establish a dynamic model of the airborne platform
[0018] Using coordinate tran...
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The invention provides a design method for a robustness controller of an airborne parallel-connected platform. 1) A six-degree of freedom parallel-connected machine platform acts as an airborne platform, the pose of the fixed end of the platform presents to be dynamically changed along with the machine body, and six parallel-connected telescoping rods and universal hinges control the pose of a working bench to be always in the horizontal state. 2) A decentralized control scheme is utilized to decompose a parallel-connected robot system so that the structure of the system is simplified, and higher robustness is realized. 3) A sliding-mode control scheme is utilized to eliminate buffeting phenomenon of the controlled system generated by high-frequency switching. 4) Uncertainty of the system is inhibited via an RCLF (robustness control Lyapunov function). Uncertain interference factors, such as environment, models, parameters, etc., can be effectively inhibited by the controller.
Description
technical field [0001] The invention belongs to the technical field of robot control and relates to a design method of a robust controller of an airborne parallel robot platform. Background technique [0002] The parallel robot is a multi-closed-loop mechanism formed by connecting the end effector and the fixed system with multiple independent kinematic chains. It has a series of advantages such as high rigidity, strong bearing capacity, small error, high precision, small weight-to-load ratio, and good dynamic performance. It has been successfully used in many fields such as machining centers, operating robots, sports training devices, and micro-motion devices. And with its unique closed-loop mechanism composed of multiple kinematic chains of parallel robots, it has become a potential high-speed and high-precision motion platform. [0003] In practical applications, on the one hand, for robot systems, due to the ever-changing working environment, they will face more uncerta...
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IPC IPC(8): G05B13/04
Inventor 陈奕梅
Owner TIANJIN POLYTECHNIC UNIV