Dynamic analysis and model-based feedforward control of a 2-DoF translational parallel manipulator driven by linear motors
Dynamic analysis and model-based feedforward control of a 2-DoF translational parallel manipulator driven by linear motors
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DOI：
10.1108/ir-01-2013-307
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发表时间：
2013-10
期刊：
影响因子：
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通讯作者：
Gang Zhang;Jianhua Wu;Pinkuan Liu;H. Ding
中科院分区：
文献类型：
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作者：
Gang Zhang;Jianhua Wu;Pinkuan Liu;H. Ding
目的：基于逆运动学和任务空间动力学模型，设计了直线电机驱动的2自由度平移并联机器人的高精度轨迹跟踪控制器。设计/方法/方法-使用第一类拉格朗日方程推导出2-DOF TPM的任务空间动力学模型。设计了一种基于任务空间动态模型的前馈控制器(MFC)，将串级PID/PI控制器与速度前馈控制器(VFC)相结合，构成了一种混合的PID/PI+VFC/MFC控制器。在MATLAB/dSPACE实时控制平台上实现了该混合控制器。实验结果验证了该混合控制器的有效性和工业适用性。结果-MFC可以补偿2自由度TPM的非线性动态特性，并获得比传统的加速度前馈控制器(AFC)更好的跟踪性能。原创性/价值--基于任务空间的动态模型。
Purpose – Based on the inverse kinematics and task space dynamic model, this paper aims to design a high-precision trajectory tracking controller for a 2-DoF translational parallel manipulator (TPM) driven by linear motors. Design/methodology/approach – The task space dynamic model of a 2-DoF TPM is derived using Lagrangian equation of the first type. A task space dynamic model-based feedforward controller (MFC) is designed, which is combined with a cascade PID/PI controller and velocity feedforward controller (VFC) to construct a hybrid PID/PI+VFC/MFC controller. The hybrid controller is implemented in MATLAB/dSPACE real-time control platform. Experiment results are given to validate the effectiveness and industrial applicability of the hybrid controller. Findings – The MFC can compensate for the nonlinear dynamic characteristics of a 2-DoF TPM and achieve better tracking performance than the conventional acceleration feedforward controller (AFC). Originality/value – The task space dynamic model-based hy...