平面5R并联机构运动控制及软件开发

发布时间：2018-03-01 03:10

本文关键词： 并联机构轨迹规划二自由度控制 OpenGL PMAC　出处：《燕山大学》2015年硕士论文　论文类型：学位论文

【摘要】：平面5R并联机构是平面2自由度并联机构家族中的典型代表,其结构紧凑,易于控制,可完成平面内任意轨迹,且分析相对简单。因此,本文以对称型的平面5R并联机构为研究对象,在分析前人研究成果的基础上,对机构进行了运动规划、控制仿真分析及软件界面开发与实验研究。建立了基于平面5R并联机构样机尺寸的位置正解和反解模型,求解了机构速度、加速度的Jacobian矩阵计算式;基于三次B样条曲线拟合规划了该机构工作空间内的任意路径,并依据改进后的速度为优化等速曲线的轨迹规划方法对拟合的路径进行了轨迹规划。依据PMSM的数学模型及其典型的三环控制系统结构,分析设计了二自由度PID控制器,并通过搭建GA寻优的Simulink仿真模型对控制器的参数进行整定;构建了平面5R并联机构样机的Lagrange动力学模型,并基于模型进行了Adams/Simulink关于计算力矩法的联合仿真。基于MFC框架程序开发了平面5R并联机构样机的数控系统软件,借助Open GL显示技术、Tee Chart组件等实现了通讯、可视化、曲线实时跟踪等功能;搭建了以Turbo PMAC2 Clipper运动控制卡为控制核心的实验平台,完成了PMAC卡内置PID算法与伺服驱动器速度控制模式相结合的样机控制实验。
[Abstract]:The planar 5R parallel mechanism is a typical representative of the planar 2-DOF parallel mechanism family. Its structure is compact, easy to control, it can complete any trajectory in the plane, and the analysis is relatively simple. In this paper, the symmetrical planar 5R parallel mechanism is taken as the research object. Based on the analysis of the previous research results, the kinematic planning of the mechanism is carried out. Control simulation analysis and software interface development and experimental research. A position forward and inverse solution model based on the size of the planar 5R parallel mechanism prototype is established, and the Jacobian matrix formula for the velocity and acceleration of the mechanism is solved. Based on cubic B-spline curve fitting, arbitrary paths in the workspace of the mechanism are planned. According to the improved trajectory planning method, the trajectory planning of the fitted path is carried out. According to the mathematical model of PMSM and the typical three-loop control system structure, the two-degree-of-freedom PID controller is designed and analyzed. The parameters of the controller are adjusted by setting up the Simulink simulation model of GA optimization, and the Lagrange dynamic model of the planar 5R parallel mechanism prototype is constructed. The numerical control system software of the planar 5R parallel mechanism prototype is developed based on the MFC framework program, and the communication and visualization are realized with the help of the Open GL display technology and Tee Chart module. The experiment platform with Turbo PMAC2 Clipper motion control card as the control core is built, and the prototype control experiment which combines the PID algorithm built in PMAC card with the speed control mode of servo driver is completed.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH112;TP273

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