[1]曹毅,王见,刘俊辰,等.含关节间隙的3-CPaRR并联机构的动力学分析及自适应滑模控制[J].哈尔滨工程大学学报,2019,40(11):1917-1924.[doi:10.11990/jheu.201807087]
 CAO Yi,WANG Jian,LIU Junchen,et al.Dynamics analysis and adaptive sliding mode control of 3-CPaRR parallel mechanism with joint clearance[J].Journal of Harbin Engineering University,2019,40(11):1917-1924.[doi:10.11990/jheu.201807087]
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含关节间隙的3-CPaRR并联机构的动力学分析及自适应滑模控制(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
40
期数:
2019年11期
页码:
1917-1924
栏目:
出版日期:
2019-11-05

文章信息/Info

Title:
Dynamics analysis and adaptive sliding mode control of 3-CPaRR parallel mechanism with joint clearance
作者:
曹毅123 王见13 刘俊辰13 朱景原13
1. 江南大学 机械工程学院, 江苏 无锡 214122;
2. 江南大学 机器人技术与系统国家重点实验室, 江苏 无锡 214122;
3. 江南大学 江苏省食品先进制造装备技术重点实验室, 江苏 无锡 214122
Author(s):
CAO Yi123 WANG Jian13 LIU Junchen13 ZHU Jingyuan13
1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;
2. State Key Laboratory of Robotics and System, Jiangnan University, Wuxi 214122, China;
3. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Jiangnan University, Wuxi 214122, China
关键词:
并联机构关节间隙运动学动力学Lagrange方程自适应滑模控制鲁棒性
分类号:
TH113
DOI:
10.11990/jheu.201807087
文献标志码:
A
摘要:
为研究构件铰接处间隙对3-CPaRR并联机构的影响,本文采用正态分布统计模型建立了含间隙关节径向、轴向及支链运动模型;基于Flores接触力、Coulomb摩擦力模型和非完整系统的Lagrange方程对3-CPaRR机构开展了含间隙动力学建模;对模型求解,分析了不同间隙值对3-CPaRR机构的影响,并基于ADAMS软件的虚拟样机仿真结果对比分析了关节间隙运动学模型建立的合理性。针对常规滑模变结构控制的抖振与无法准确抑制时变扰动问题,设计该机构自适应滑模运动控制器,通过Lyapunov函数分析其稳定性,该控制器省去了对不确定项上界的估计,且可对该系统状态进行实时补偿,对比仿真计算结果显示该控制方法收敛速度快且控制精度高,提高了系统的鲁棒性。本文研究为含关节间隙的多体系统提供了研究方法,同时也为该并联机构实时控制系统的研究提供了理论基础。

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备注/Memo

备注/Memo:
收稿日期:2018-07-23。
基金项目:国家自然科学基金项目(50905075);江苏省"六大人才高峰"计划项目(ZBZZ-012);机器人技术与系统国家重点实验室开放课题项目(SKLRS-2016-KF-06);江苏省普通高校专业学位研究生实践创新计划项目(SJZZ16-0212);高等学校学科创新引智计划(B18027).
作者简介:曹毅,男,教授.
通讯作者:曹毅,E-mail:caoyi@jiangnan.edu.cn.
更新日期/Last Update: 2019-12-07