2-DOF绳索驱动并联机构轨迹跟踪控制.PDF

第xx卷 第x期 控 制 与 决 策 Vol.xx No.x xxxx年 x 月 Control and Decision xxx. xxxx DOI: 10.13195/j.kzyjc.2017.1460 2-DOF 绳索驱动并联机构轨迹跟踪控制 姜雷杰 , 高丙团, 刘传德, 朱振宇 (东南大学电气工程学院，南京210096) 摘 要: 基于PD 控制和前馈控制方法, 对2-DOF 的绳索驱动并联机构的空间运动控制问题进行了研究. 首先基 于拉格朗日方程建立了系统的空间运动数学模型. 为了保证所有绳索在机构的工作空间范围内始终处于张紧状 态, 绳索内力原则被应用于所提的控制方法中. 然后基于李雅普诺夫稳定性理论, 给出了闭环系统的稳定性证明. 最后为了检验所提控制策略的正确性, 给出了仿真和实验结果. 仿真和实验结果的近似一致性证明了所提控制策 略的有效性和合理性. 关键词: 绳索驱动；拉格朗日方程；PD 控制；前馈控制；轨迹跟踪 中图分类号: TP273 文献标志码: A Trajectory tracking control of a 2-DOF cable-driven parallel mechanism † JIANG Lei-jie , GAO Bing-tuan, LIU Chuan-de, ZHU Zhen-yu (School of Electrical Engineering，Southeast University，Nanjing 210096 ，China) Abstract: The space motion control problem of a 2-DOF cable-driven parallel mechanism is studied based on PD control and feed-forward control method. First, the space motion mathematical model of the system is formulated by Lagrange’s equation. In order to ensure that all the cables have always remained in tension in the workspace of the mechanism, the cable internal force principle has been applied in the proposed control method. Then, based on the Lyapunov stability theory, the stability of the closed-loop system is proved. Finally, to test the correctness of the proposed control strategy, simulation and experiment results are given. Approximate consistency between simulation and experimental results proves the validity and the rationality of the proposed control strategy. Keywords: cable-driven ；Lagrange’s equation ；PD control ；feed-forward control ；trajectory track