一种新型6自由度运动平台的控制研究_施昕昕

50320142JOURNALOFMECHANICALENGINEERINGVol.50No.3Feb.2014DOI10.3901/JME.2014.03.0566*12(1.2111672.210094)66Matlab/SimulinkdSPACE66TP273TH112ResearchonControlofaNovel6-DOFMotionPlatformSHIXinxin1CHANGSiqin2(1.SchoolofAutomation,NanjingInstituteofTechnology,Nanjing211167;2.SchoolofMechanicalEngineering,NanjingUniversityofScienceandTechnology,Nanjing210094)AbstractTosolvethecontrolproblemofanovel6-DOFmotionplatform,ahighperformancetrajectorytrackingcontrolstrategybasedonmodifiedactivedisturbancerejectioncontrollerisproposed.Kinematics-basedcontrolmethodisadoptedtoanalyzethe6-DOFmotionplatform,andareferenceaccelerationfeedforwardisaddedtomodifytheconventionalactivedisturbancerejectioncontroller.SimulationresearchesareimplementedinMatlab/Simulink.Trackingerrorsforsinusoidaltrajectorywithparametervariationsandexternaldisturbancesofclassicalproportionalintegralderivativecontroller,conventionalactivedisturbancerejectioncontrollerandmodifiedactivedisturbancerejectioncontrollerareanalyzed,andmotioncontrolexperimentsystemisconstructedbasedondSPACE.Comparativesimulationsandexperimentalresultsdemonstratetheeffectivenessoftheproposedmodifiedactivedisturbancerejectioncontroller,andthenovel6-DOFmotionplatformcanrealizethedesiredmotionwell.Keywordsmodifiedactivedisturbancerejectioncontroller6-DOFmotionplatformtrajectorytrackingkinematics016[1]66*(BK20130744)(YKJ201220)(61104085)20130208201311186[2-3]66620142657[4][5][6]66[7][8]6161.1616(Electromagneticlinearactuator,EMLA)1EMLAEMLAEMLA6161.26[9]EMLAEMLAEMLAEMLA(1)efdm1KRiivuLLLFFKvimmxv(1)uiRLmxvKeKmFfFdEMLAEMLA11R/ΩL/mHKe/(Vs/m)Km/(N/A)m/kg3.44.4218.0118.010.2522.1(Activedisturbancerejectioncontrol,ADRC)(Extendedstateobserver,ESO)(Tracking-differentiator,TD)(Nonlinearstateerrorfeedback,NLSEF)[10-13](,,(),)xfxxdttbu(2)b(,,(),)fxxdttTD112221d20(1)()()(1)()fhan(()(),(),,)xkxkhxkxkxkhxkxkxkrh(3)hkkxd50358x1xdx2x1rh0TD1d20fhan(()(),(),,)xkxkxkrh1d20fhan(()(),(),,)sgn()xkxkxkrhraadaradd(4)sgn()ad00001d022000200002000()()()8()sgn()2()drhdhdyxkxkhxkadryadxkyydayxkydh(5)ESO111201223023303()()(1)()(())(1)()()(fal(,0.5,)())(1)()fal(,0.25,)ezkxkzkzkhzkezkzkhzkhebukzkzkhe(6)z1xz2xz3010203bESOfal(,,)e1fal(,,)sgn()eeeeee(7)NLSEF(Nonlinearproportionalderivative,NPD)1112220111222fal(,,)fal(,,)exzexzuee(8)1212ADRCADRCADRCADRC(,,(),)fxxdtt(2)0xu(9)xdxdu00ddxuxxx(10)xxd(Modifiedactivedisturbancerejectioncontroller,MADRC)MADRC(10)[10]ADRCMADRCADRCMADRC(2)b(,,(),),0fxxdttMMMADRC3lim(,,(),)0tzfxxdttz3(,,(),)fxxdtt2.2ESOMADRCEMLA2[10]MADRCESO_1111111111121111111212112111()()(1)()()(())(1)()fal(,0.5,)ezkikzkzkhzkhebukzkzkhe(11)h1z11iz121112b11fal(,,)e(7)20142659233.1Matlab/SimulinkMADRC(1)PID+FFPIDPID+FF33PID+FFPIDPIZiegler-Nichols[14]2TKpKiKdPID2PIDPIPIDPIKp34000150Ki100010000Kd1000T0.00020.000025(2)ADRCADRC2ADRCh1=0.000025b1=22611=4000012=5000000=400001=0.00002501=500002=220970b=7203=159674501=0.752=1.5h=0.0002=0.0051=300002=10000(3)MADRC2MADRCADRC1=340002=100=0.00023.2xd[15]d25sin(40.5)25xt(mm)(12)MADRCADRCMADRCPID+FF44MADRC1mADRCMADRC4503603.3EMLA97.5N0.25kg10kg5545MADRCMADRCMADRC3.40.41.1sEMLA–10N6ESOFt76767MADRCESO46ADRCMADRC44.1dSPACE68dSPACE(DS1005DS4002DS2004)68dSPACE620142661TBC05SYKTM0.1%EMLADS2004DS1005(Pulse-width-modulationPWM)DS40024.2xyz4.6325.481cos(3.749)1.596sin(3.749)()0.2610.804cos(3.749)4.187sin(3.749)()2.6680.348cos(3.749)2.874sin(3.749)()xyztttttt(13)EMLA6EMLAxd(14)[16]d1d2d3d4d5d620sin(5)20(mm)15sin(5)15(mm)5sin(5)5(mm)10sin(5)10(mm)20sin(5)20(mm)15sin(5)15(mm)xtxtxtxtxtxt(14)MADRCEMLA510sEMLA910xyz9910MADRCEMLA650362105(1)6(2)(3)6[1]6Washout[J]201046(3)53-58DONGYanliangXUCaixiaTANGJianlinetalDesignandtestresearchofwashoutfilterfor6-DOFplatform[J]JournalofMechanicalEngineering201046(3)53-58[2]YAORZHUWHUANGPAccuracyanalysisofStewartplatformbasedonintervalanalysismethod[J]ChineseJournalofMechanicalEngineering201326(1)29-34[3]3[J]201349(1)45-52LIUXiaoZHAOTieshiBIANHuietalDynamicsanalysisofa3-DOFcouplingparallelmechanismforstabilizedplatform[J]JournalofMechanicalEngineering201349(1)45-52[4]SUYuxinDUANBaoyanZHENGChunhongetalDisturbance-rejectionhigh-precisionmotioncontrolofastewartplatform[J]IEEETrans.ControlSyst.Technol.200412(3)364-374[5]PIYWANGXObserver-basedcascadecontrolofa6-DOFparallelhydraulicmanipulatorinjointspacecoordinate[J]Mechatronics201020(6)648-655[6]PIYWANGXTrajectorytrackingcontrolofa6-DOFhydraulicparallelrobotmanipulatorwithuncertainloaddisturbances[J]ControlEng.Pract.201119(2)185-193[7]LEESSONGJCHOIWetalPositioncontrolofaStewartplatformusinginversedynamicscontrolwithapproximatedynamics[J]Mechatronics200313(6)605-619[8]BECHLIOULISCDOULGERIZROVITHAKISGGuaranteeingprescribedperformanceandcontactmaintenanceviaanapproximationfreerobotforce/positioncontroller[J]Automatica201248(2)360-365[9