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基于影响系数法对冗余并联柔索机构进行了运动学分析,验证了动平台的姿态参数欧拉角对时间的1阶、2阶导数不能表示动平台的角速度和角加速度。考虑电绞盘的动力学特性建立了动力学方程,获得了奇异摄动模型,并进行了圆轨迹跟踪控制仿真分析。采用常值重力及内张力补偿设计了控制系统调节器,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设计提供了理论依据。
Based on the influence coefficient method, the kinematic analysis of the redundant parallel flexible cable mechanism is carried out. The first and second order derivatives of the attitude parameters Euler angles of the moving platform can not represent the angular velocity and angular acceleration of the moving platform. Considering the dynamic characteristics of the electric winch, a dynamic equation is established, a singular perturbation model is obtained, and a simulation of the circular trajectory tracking control is carried out. The controller of the control system is designed by the constant value of gravity and the internal tension compensation. The error of the PD regulator of the control system is analyzed based on the position feedback of the motor rotation angle. The stability of the control system is verified. Design provides a theoretical basis.