摘要
为改进传统气缸驱动并联平台刚度低、难以控制的缺点,提出一种由3根气动肌肉和一个气缸混合驱动的并联平台.该平台具有横摇、纵摇、升沉3个方向上的自由度,其中由气缸控制的平台等效刚度控制系统和由3根气动肌肉控制的平台位姿控制系统自然分离,降低了控制器的设计难度.在对并联平台系统进行建模分析的基础上,采用气缸与气动肌肉控制相对独立的控制策略,针对气动肌肉强耦合、高度非线性的力学特性,设计一种自适应鲁棒控制器对并联平台的运动进行位姿控制.仿真结果表明,该控制器能够获得高精度的平台位姿轨迹跟踪控制效果,其中在线参数辨识部分能够对非线性模型补偿算法进行实时修正,同时控制器具有良好的鲁棒性.
In order to overcome the shortcomings of platforms driven by air cylinders such as low stiffness and controlling complexity, a parallel platform driven by three pneumatic muscles and one air cylinder was designed. The platform had three degrees of freedom, namely roll, pitch and heave. The stiffness of the parallel platform was controlled only by the air cylinder, while the posture was controlled by three pneu- matic muscles, so the controller could be easily designed separately. Based on the modeling analysis of the parallel platform, a control strategy which separately controlled the air cylinder and pneumatic muscles was employed. To overcome the limitation caused by the coupling and nonlinear characteristics of pneu- matic muscles, an adaptive robust controller （ARC） was designed for posture controlling of the parallel pneumatic platform. Simulation results show that the proposed ARC controller can achieve a high level of precision of trajectory tracking motion control. With the ability of online parameter identification, the ARC controller is able to modify the nonlinear compensation part based on the identification results. The robustness of the ARC controller is also verified in simulation experiments.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2015年第5期821-828,共8页
Journal of Zhejiang University：Engineering Science
基金
国家自然科学基金资助项目(51375430)
关键词
气动肌肉
并联平台
结构设计
建模仿真
自适应控制
位姿控制
pneumatic muscle
parallel platform
structure design
modeling and simulation
adaptive con- trol
posture control
