基于内张力补偿的并联柔索机构控制系统的研究

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The research of wire-driven parallel manipulator mostly ignored the elasticity of the wires,but in fact elastic of the wires greatly influences the performance of control system.An dynamics model for the redundant wire-driven parallel manipulator is established,analyzing and designing the control system.An algorithm for control system of the redundant wire-driven parallel manipulator is proposed by using constant gravity and internal tension compensation,and the position control of mobile platform is realized,then the deviations of PD regulator for the control system are analyzed based on position feedback of rotation angle of the motors,and also the stability of the control system is verified,so the theory of the control system of the redundant wire-driven parallel manipulator provides basis for design and use.在并联柔索机器人的控制方法的研究中,大多忽略柔索的弹性,而实际上柔索弹性对控制系统性能影响较大,尤其是并联柔索驱动机构。因此建立了应用于风洞试验的并联柔索机构的动力学模型,进行了控制系统分析与设计。提出了采用常值重力及内张力补偿设计冗余并联柔索机构控制系统调节器的算法,实现了动平台点到点的位置控制,基于电机转角位置反馈分析了该控制系统PD调节器的误差,验证了该控制系统的稳定性,为冗余并联柔索机构控制系统的分析与设计提供了理论依据。