李珂翔,张 合.并联光电跟踪平台建模与工作空间闭环控制[J].农业机械学报,2014,45(3):293-298.
Li Kexiang,Zhang He.Modeling and Closed-loop Control in Workspace of Parallel Optoelectronic Tracking Platform[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(3):293-298.
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并联光电跟踪平台建模与工作空间闭环控制   [下载全文]
Modeling and Closed-loop Control in Workspace of Parallel Optoelectronic Tracking Platform   [Download Pdf][in English]
投稿时间:2013-11-12  
DOI:10.6041/j.issn.1000-1298.2014.03.048
中文关键词:  并联机构 动力学建模 干扰观测器 滑模控制 工作空间
基金项目:国家自然科学基金资助项目(60908037)
作者单位
李珂翔 南京理工大学 
张 合 南京理工大学 
中文摘要:针对某小型浮式并联光电跟踪平台体积小、负载惯量大的特点,提出了一种以少自由度并联机构为基础的改进型并联机构。推导了平台的系统雅可比矩阵,基于拉格朗日方法得到了平台的动力学模型。针对并联平台的内部耦合、参数不确定和干扰的问题,基于工作空间提出了一种带有干扰观测器的复合滑模控制策略。利用干扰观测器观测系统干扰,减小干扰上界,基于反步法设计了滑模控制器跟踪目标轨迹并进一步抑制未观测出的干扰。仿真和实验结果表明,提出的数学模型和控制策略使平台跟踪误差减小到±0.08°,为PID控制误差的14.5%,特别适用于并联平台等内部耦合及干扰较显著的场合。
Li Kexiang  Zhang He
Nanjing University of Science and Technology;Nanjing University of Science and Technology
Key Words:Parallel mechanism Dynamic modeling Disturbance observer Sliding mode control Workspace
Abstract:In order to meet the optoelectronic tracking requirements for a small size floating stabilized platform with small volume and high load inertia, an improved parallel mechanism based on deficient DOF parallel mechanism has been designed. The Jacobian matrix is derived, and the dynamic model has been established by using Lagrange method. Considering the internal coupling, uncertainties and disturbances of the system, a workspace based composite control with disturbance observer is proposed. The disturbance observer is used to observe the disturbance of the system and reduces the upper bound of the disturbance. Based on backstepping method, the sliding mode controller is designed for tracking and residual disturbance suppression. The simulation and experiment results show that the proposed model and method have made tracking error reduced to ±0.08° which is 14.5% of PID, and is suitable for parallel mechanism.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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