三平动并联机构传动动力学和双轴同步控制研究

发布时间：2018-09-12 14:26

【摘要】：3-(2SPS)三平动并联机构的运动支链是三组同步驱动的平行杆。同步控制的精度及动态性能是保证机构实现运动性能的核心。针对这个问题,本文提出了将交叉耦合控制与模糊PID控制算法相结合的复合同步控制方案,并进行了较为细致地研究。主要研究内容如下：根据机构的结构特点与结构参数,构建了并联机构三平动的位置方程,分析比较了三平动三阶逆雅可比矩阵与支链存在同步误差导致动平台微摆动的六阶逆雅可比矩阵；构建了支链驱动系统的传递函数,分析了其的稳定性以及误差问题,确定了影响系统误差的主要因素；基于PID原理引入了前馈方法构建了单驱动系统的控制器,双杆同步驱动系统的控制器采用了交叉耦合控制与模糊PID控制算法相结合的方式,在不同的条件下进行了仿真实验及对比,分析该控制器的控制效果；建立了两电机同步控制实验平台,设计了控制系统的实验方案,基于实验平台,分别对硬件与软件进行了设计。硬件方面包括DSP控制器原理图与PCB的设计以及调试,控制系统的构建以及电机驱动模块、光电编码器检测模块与电位器模块的连线；软件方面包括在CCS上进行了软件编程,构建了具体的运动轨迹,对交叉耦合控制与模糊PID控制相结合的同步控制算法进行了实验验证及分析,对于系统反馈过程中的计数寄存器过零点问题,设计了一种简单有效的过零点算法。研究结果表明采用交叉耦合控制与模糊控制算法相结合的复合控制方式可以很好地保证控制要求,精度较高,为双杆同步驱动并联机构工程应用提供了依据。
[Abstract]:The kinematic branching chain of 3-(2SPS) 3-parallel mechanism is a parallel rod driven by three synchronously. The precision and dynamic performance of synchronous control are the core to ensure the performance of the mechanism. In order to solve this problem, a hybrid synchronous control scheme combining cross coupling control and fuzzy PID control algorithm is proposed and studied in detail. The main research contents are as follows: according to the structure characteristics and structural parameters of the mechanism, the position equation of the three translational motions of the parallel mechanism is constructed. This paper analyzes and compares the sixth order inverse Jacobian matrix with the synchronization error of the third order inverse Jacobian matrix and the branching chain, constructs the transfer function of the branch chain driving system, and analyzes its stability and error problem. The main factors influencing the system error are determined, and the controller of the single drive system is constructed based on the feedforward method based on the PID principle, and the controller of the two-bar synchronous drive system adopts the combination of cross-coupling control and fuzzy PID control algorithm. The simulation experiments under different conditions are carried out, and the control effect of the controller is analyzed, and the experimental platform for synchronous control of two motors is established, and the experimental scheme of the control system is designed, which is based on the experimental platform. The hardware and software are designed respectively. The hardware includes the design and debugging of DSP controller schematic diagram and PCB, the construction of control system and the connection of motor driving module, photoelectric encoder detection module and potentiometer module. The specific motion trajectory is constructed, and the synchronization control algorithm combining cross coupling control and fuzzy PID control is verified and analyzed experimentally. The zero crossing problem of counting registers in the feedback process of the system is analyzed. A simple and effective zero crossing algorithm is designed. The research results show that the combined control method of cross coupling control and fuzzy control algorithm can ensure the control requirement well and the precision is high. It provides the basis for the engineering application of the parallel mechanism with double rod synchronous drive.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112;TH113

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