并联机构自学习模糊滑模控制分析-analysis of self-learning fuzzy sliding mode control for parallel mechanism.docxVIP

江苏大学硕士毕韭论文摘要并联机器入枧构肖许多明照优于串联机器人机构的优点。在航天、医疗、数 控加工、微动控制等过程中有十分广泛的魔用。本课题研究的三平移并联机器人 机构在离精度数控机床、三维坐标测量机等方面有广阔的应用前景。课题对三平移并联孛凡器人的运动学、动力学关系进行了分柝。提出了利用 MATLAB程序绘制机器人工作空间三维模型的方法。建立了完熬的并联枧器人控 制系统、利用vc++设计了机器入系统的计算机控翩较彳牛，使机器人能在其工作 空间内精确地按照腭户绘定的轨迹运动。在并联机构控制理论研究方面，曾先介绍了滑模变结梅擦制醺论，对潺模变 结构控制系统的港模存在性、可迭性及稳定性条件进行分析。然簸针对变结构控 制系统的抖振，结合步进电机分散驱动并联机构的控制形式，完成了模糊瀚模控 制器和自学习模糊滑模变结构控制嚣的理论分析，并进行备条支路的轨迹跟踪仿 真试验。理论分析和仿真结果都表明：该算法解决了传统滑模擦制在数字实现时 的震颤阉题，系统抗干扰能力强，而且能够较好的跟踪期望轨迹。在并联极构数控系统豹试验中，采用多微处理器结构，以“Pc机+多轴运动 控制卡”进行构建。这种结构既简化了控制系统的结枣奄，又具有较好的实时靛和 可靠性。利用vc++设计控制软伟，使并联机构能在其工作空间内完成绘定的轨迹 运动，丽且具有一定的控制精度。关键词：并联机构，计算机控制，模糊滑模控制，自学习控制涯募文学鞭士毕盘釜文ABSTRACTRobot稍氆parallel mechanism has many obvious advantages over serial robot．It has wide applications in space fli秘t,medical treatment and numerically controlled machinery．Parallel Robot with Three Dimensional Level Movement researched in this project could be applied invarious fields such as hi；gh precision machinery，Coordinate Measuring Machine(CMM),etc．．Kinematics and dynamics relations ofparallel robot are analyzed in this project．Methods to draw three-dimensional images of robots workspace by compiling programs in MATLAB are presented．A completed parallel robot control system is set up．An efficient robot control program written in VC++code，which can drive robot to move along any locus in its workspace with hi曲 precision,is designed。In the researching of parallel mechanism control l羹eory,the Sliding Mode Control(SMC) theory has been introduced first．The existence,reaching and stability ofthe mode ofSMC system have been analyzed completely．And then，the theoretic analysis of the Fuzzy Sliding-Mode Control(FSMC)and Self-Learning Fuzzy Sliding-Mode Control(SLFSMC)have been accomplished，for the chattering ofthe SMC and the control form ofparallel mechanism，which is dispersedly driven姆the stepper motor．Moreover,the simulation experiment for the tracking hasbeen implemented+The theoretic analysis and simulation results show that these arithmetic have solved the chauer