侯敬巍,倪涛,唐新星,赵丁选.液压Stewart主从系统六维控制策略[J].农业机械学报,2014,45(8):334-338,346.
Hou Jingwei,Ni Tao,Tang Xinxing,Zhao Dingxuan.6-dimension Control Strategy for Hydraulic Stewart Master-slave System[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(8):334-338,346.
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液压Stewart主从系统六维控制策略   [下载全文]
6-dimension Control Strategy for Hydraulic Stewart Master-slave System   [Download Pdf][in English]
投稿时间:2013-09-17  
DOI:10.6041/j.issn.1000-1298.2014.08.053
中文关键词:  Stewart机构  液压控制  主从控制  力反馈  多自由度
基金项目:国家自然科学基金资助项目(51305153)、吉林省重点科技攻关项目(20130206034GX)和吉林大学基本科研业务费专项资金资助项目(450060481048、450060481333)
作者单位
侯敬巍 吉林大学 
倪涛 吉林大学 
唐新星 长春工业大学 
赵丁选 吉林大学 
中文摘要:设计了一种主从手均为液压Stewart机构的主从控制系统,用于操作者以遥操作的方式进行复杂曲面的研磨,避免研磨粉尘对现场工作的工人造成呼吸道伤害。针对该机构需具有六维力反馈的工作要求,采用基于工作空间的四通道力觉双向伺服策略,以降低连杆差异和外界干扰力等非线性因素的影响,提高力反馈精度。在此基础上提出了六维的策略切换控制,解决因从端遭遇刚性冲击引起的主手震荡问题。通过柔性及刚性碰撞实验证明了该策略的有效性。
Hou Jingwei  Ni Tao  Tang Xinxing  Zhao Dingxuan
Jilin University;Jilin University;Changchun University of Technology;Jilin University
Key Words:Master-slave control  Hydraulic control  Stewart manipulator  Force feedback  Multi-DOF
Abstract:A master-slave system with hydraulic actuated Stewart mechanism in both master and slave sites is built. The system can be used for curved surface grinding work, where the grinding dust may do great harm to the operator. Aiming at the 6-DOF work condition of the system, a new workspace-based four channel bilateral servo control algorithm is designed. The new algorithm may decrease the nonlinear disturbance such as the difference of the cylinders and environment force, thus improve the accuracy of the feedback force. Based on this result, a multi-DOF strategy switch algorithm is proposed. By using different control strategy under the rigid impact time and soft impact, the vibrate problem on the master side during rigid impact on the slave side is solved. An experiment including soft and rigid collisions is implemented to validate the efficiency of the new algorithm.

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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