标题: | 六连杆平行滑动机之运动控制系统 Motion Control System of a Hexaglide |
作者: | 何国强 Kou Chiang Ho 宋开泰 K. T. Song 电控工程研究所 |
关键字: | 六连杆平行机器人;逆向运动学;运动控制系统;Parallel Manipulators;Inverse Kinematics;Motion control system |
公开日期: | 1998 |
摘要: | 本论文首先对平行式操纵机与串接式操纵机作特性上之比较,分析平行式操纵机之优点,并回顾相关研究文献,接着我们提出六连杆平行滑动机(Hexaglide)逆向运动学分析,并推导出其逆向运动学计算公式。如此可求得运动平台不同姿态时六个线性马达之位置。经由动力学分析,我们计算出平台运动时六连杆所需的施力,并导出Hexaglide动态方程式。在运动控制部分,若是能将六个马达位置命令同步分别由伺服控制器执行,则可以简单之单一输入单一输出(SISO)之线性控制设计来实现Hexaglide之运动控制。因此在进行控制时可将每个马达视为独立的系统,用六个控制器分别控制六个马达达到所要的位置,如此可使平台到达给定的位置与角度。在给定机构几何参数等条件下,我们以电脑模拟初步验证了所提出之设计。模拟平台对X,Y,Z轴平移及旋转时六个线性马达相对应的位移变化及六连杆所受的施力变化。由于Hexaglide之动态方程式参数随平台与马达位置不同而变化,因此我们提出以模式参考适应控制(MRAC)方法来设计控制器,论文中以电脑模拟平台作直线,旋转及圆周路径的追踪控制。模式参考适应控制方法可随系统变化而调整其控制参数,因此比固定参数PID控制器有更精确的追踪响应,尤其是有外力干扰时可即时调整控制参数,使其响应几乎不受影响。另为了改善模式参考适应控制器的暂态振荡现象,我们加入了PD控制器做平行补偿来降低暂态振荡现象。模拟结果显示,所提出之PD与MRAC整合之控制器具有较佳之追踪控制结果。最后我们研制三轴平行滑动机,以旋转马达结合导螺杆将旋转运动转换成直线运动,来验证马达位置命令同步分别由伺服控制器执行,则可以简单之单一输入单一输出(SISO)之线性控制设计来实现三轴平行滑动机之运动控制。 In this thesis,we present the research results of the development of Hexaglide motion controll system. The inverse kinematics analysis of Hexaglide is presented. An algorithm is proposed to compute the motor positions when the position and orientation of the platform are given. The dynamics equations of the Hexaglide are derived. The relation between platform motion and the link force can be computed accordingly. Computer simulations are presented to verify the proposed methods. An independent single-input-single-output (SISO) control architecture is developed for 6-DOF Hexaglide. However, adaptive control schemes are required to improve the tracking performance. A model reference adaptive control(MRAC) approach is adopted in this thesis for this purpose. In order to improve transient performance of the MRAC,a PD controller is added to combine with the conventional adaptive controller. Simulation results confirm that the proposed controller has satisfactory tracking performance. A three DOF triglide system has been designed and implemented. Rotary motors and ball screws we used to achieve linear motion on the linear glide. Experimental results of this mechanism are demonstrated. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#NT870591127 http://hdl.handle.net/11536/65012 |
显示于类别: | Thesis |