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

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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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 length of four flexible rope traction parallel actuators, thereby solving the aforementioned problems existing in the prior art

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