摘要
在六自由度并联运动平台运动控制中,可转化为对各个支链的运动控制,每条支链采用电液伺服运动系统。针对并联运动平台支链位置控制中存在的抗干扰和控制精度问题,提出了一种基于自适应反演滑模控制算法。该算法利用自适应控制策略,以此对系统的建模误差和外加干扰等不确定性进行估计,再结合反演滑模控制算法设计平台支链位置控制器,解决并联运动平台位置精确控制问题。仿真结果和试验表明,该控制策略能够很好的实现支链电液伺服运动快速、稳定、高精度位置控制,并对系统的外加干扰具有很强的鲁棒性和自适应性。
In motion control of six-degree-of-freedom parallel motion platform,it can be transformed into the motion control of each branch,and each branch uses an electro-hydraulic servo motion system. Aimed at anti-interference and control accuracy problems in branch position control of parallel motion platform,an adaptive inversion sliding mode control algorithm is proposed. The algorithm uses adaptive control strategy to estimate uncertainty of system modeling error and external disturbance,and then combines the inversion sliding mode control algorithm to design a platform branch position controller to solve the problem of precise position control of parallel motion platform. The simulation results and experiments show that the control strategy can achieve fast,stable and high-precision position control of branched electro-hydraulic servo motion,and it is robust and adaptive to the system s external disturbance.
作者
刘希
黄茹楠
高英杰
LIU Xi;HUANG Ru-nan;GAO Ying-jie(School of Electrical Engineering,Yanshan University,Qinhuangdao,Hebei 066004;School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004)
出处
《液压与气动》
北大核心
2019年第7期14-19,共6页
Chinese Hydraulics & Pneumatics
基金
国家自然科学基金(61772451)
河北省科技支撑计划项目(07212177)
关键词
并联运动平台
电液伺服运动系统
自适应控制
反演滑模控制
parallel motion platform
electro-hydraulic servo motion system
adaptive control
inversion sliding mode control
作者简介
刘希(1993—),男,江西高安人,硕士研究生,主要研究方向为伺服运动控制系统集成。
