并联加工机器人时滞非线性动力学与高精度-高速数据驱动协同控制

本项目定位于应用基础研究，具有“需求牵引，突破瓶颈”的属性。针对刚柔耦合并联加工机器人时滞非线性动力学及数据驱动控制这一具有重要科学意义和应用价值的研究课题，通过对(1)并联加工机器人刚柔耦合动力学建模；(2)采样反馈系统时滞非线性动力学分析；(3) 并联加工机器人数据驱动的高精度-高速协同控制这三个科学问题的研究，提出并联加工机器人刚柔耦合动力学建模的新方法，完善含有采样反馈的时滞非线性系统的分析手段，提出基于数据驱动的高精度-高速协同控制策略，形成以刚柔耦合时滞非线性动力学为基础，包含建模、辨识、分析、控制的并联加工机器人完整理论研究框架，给出刚柔耦合并联加工机器人高精度-高速协同控制的设计依据，融合数据驱动思想，设计并实现性能更加出色的鲁棒控制算法。本项目的研究服务于国家重大需求，为突破高精度-高速加工中的技术瓶颈提供理论支撑和保障，同时有助于拓展时滞非线性动力学的研究领域。

This project is a fundamental research in both theory and application, featured by "demand drawing and bottleneck breakthrough". Aiming at the delay-induced nonlinear dynamics and data-driven control of rigid-flexible parallel machining robots, which has important scientific significance and practical value, this project will study the following three scientific problems: (1) rigid-flexible dynamic modeling of parallel machining robots; (2) nonlinear dynamics of time delayed systems with sampling feedback; and (3) data-driven high precision-high speed coordination control for parallel machining robots. The objectives of this project are to propose new methods of modeling rigid-flexible dynamics for parallel machining robots, to improve the approaches of analyzing the time delayed systems with sampling feedback, to propose data-driven high precision-high speed coordination control strategies, to develop an overall framework of the research on parallel machining robots which includes dynamic modeling, system identification, nonlinear dynamics analysis and control, and eventually to provide the design principles of high precision-high speed coordination control. Combining the data-driven ideas, the robust control schemes with better performance are also to be proposed and realized. This project serves the major national demand by providing theoretical support and guarantee for breaking through the technical bottleneck of high precision-high speed manufacturing. Meanwhile, this project also broadens the research field of delay-induced nonlinear dynamics.