Four-flexible-cable traction parallel actuator motion attitude control method based on rope length prediction

A technology of a flexible cable traction and control method is applied in the field of motion attitude control to achieve the effects of improving the visual experience, solving the problem of low control accuracy and improving the control accuracy.

Pending Publication Date: 2022-05-10
北京北特圣迪科技发展有限公司
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Problems solved by technology

[0003] The object of the present invention is to provide a kind of motion attitude control method based on the predicted rope

Method used

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  • Four-flexible-cable traction parallel actuator motion attitude control method based on rope length prediction
  • Four-flexible-cable traction parallel actuator motion attitude control method based on rope length prediction
  • Four-flexible-cable traction parallel actuator motion attitude control method based on rope length prediction

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Embodiment Construction

[0058] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, and are not intended to limit the present invention.

[0059] like figure 1 As shown, in this embodiment, a method for controlling the motion attitude of four flexible rope traction parallel actuators based on the predicted rope length is provided, including the following steps,

[0060] S1. According to the trajectory coordinate points of the parallel actuator and the coordinates of the traction points of the four ropes, obtain the theoretical length of the ropes moving from the four ropes to the trajectory coordinate points;

[0061] S2. Obtain the theoretical rope length set of the ropes according to the theoretical rope lengths of the four ropes ...

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Abstract

The invention discloses a four-flexible-cable traction parallel actuator motion attitude control method based on rope length prediction, and the method comprises the steps: S1, obtaining the theoretical rope length of four ropes moving to a track coordinate point according to the track coordinate point of a parallel actuator and the coordinates of the traction parts of the four ropes; s2, obtaining a theoretical rope length set of the rope; s3, acquiring a rope length set in an actual tightening state corresponding to the theoretical rope length set; s4, acquiring actual track coordinate points of the parallel actuator; and S5, based on the actual track coordinate point of the parallel actuator, predicting the actual length of each rope corresponding to the next track coordinate point by using the rope length set in the actual tightening state. The method has the advantages that the error of the rope is fed back and compensated to prediction by predicting the length of the rope, and the actual length of the rope is corrected, so that the posture control is more accurate; the problem of low control precision caused by suspension is solved, and the target control precision is improved.

Description

technical field [0001] The invention relates to the technical field of motion attitude control, in particular to a method for controlling the motion attitude of four flexible rope traction parallel actuators based on predicted rope lengths. Background technique [0002] At present, the motion control technology of four flexible cable traction parallel actuators has been widely used in stage performances. However, due to the special use environment, during the working process, the movement position control position is often inaccurate due to the hanging of the rope, and the hanging of the rope also affects the viewing experience. Contents of the invention [0003] The purpose of the present invention is to provide a method for controlling the movement posture of parallel actuators drawn by four flexible cables based on the predicted length of the ropes, so as to solve the aforementioned problems in the prior art. [0004] In order to achieve the above object, the technical...

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349
Inventor 周姣吴飞王彭李同进
Owner 北京北特圣迪科技发展有限公司
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