【摘要】：索驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)是由柔索替代傳統(tǒng)剛性桿的一種新型并聯(lián)機(jī)構(gòu),其結(jié)構(gòu)簡單、承載能力強(qiáng)、工作空間靈活、易于實(shí)現(xiàn),在實(shí)際工程中得到了廣泛應(yīng)用。索驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)的出現(xiàn)是并聯(lián)機(jī)構(gòu)家族中的一次重要補(bǔ)充,極大地拓展了并聯(lián)機(jī)構(gòu)的應(yīng)用領(lǐng)域,但其控制方法和控制精度仍是限制索驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)在各個(gè)行業(yè)推廣應(yīng)用的重要因素。本文主要研究內(nèi)容包括:構(gòu)建了四索驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)正、逆解數(shù)學(xué)模型,仿真驗(yàn)證了正、逆解算法的有效性;基于拉格朗日法建立了其動(dòng)力學(xué)模型,為機(jī)構(gòu)的控制系統(tǒng)設(shè)計(jì)奠定了模型基礎(chǔ)。針對(duì)索驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)的非線性、強(qiáng)耦合、多輸入多輸出等特點(diǎn),設(shè)計(jì)了強(qiáng)魯棒性和抗干擾性的自抗擾控制器。仿真分析顯示該控制器可以實(shí)現(xiàn)四索驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)高精度的軌跡控制。完成了以工業(yè)PC和DMC運(yùn)動(dòng)控制卡為核心的開放式數(shù)控系統(tǒng)的軟硬件設(shè)計(jì)。在硬件上,選用了 NC嵌入PC方式的主從式控制結(jié)構(gòu),并通過DMC提供的接口函數(shù)實(shí)現(xiàn)了運(yùn)動(dòng)控制卡與伺服驅(qū)動(dòng)之間的連接;在軟件上,基于Visual C++完成了四索驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)的專用控制界面和通用G代碼控制界面的軟件開發(fā)。基于非線性最小二乘法完成了四索驅(qū)動(dòng)并聯(lián)機(jī)構(gòu)初始零點(diǎn)的標(biāo)定;預(yù)測(cè)了運(yùn)動(dòng)學(xué)參數(shù)誤差對(duì)運(yùn)動(dòng)精度的影響趨勢(shì);確定了軌跡跟蹤實(shí)驗(yàn)的插補(bǔ)點(diǎn)數(shù)和脈沖指令等控制參數(shù),進(jìn)而實(shí)現(xiàn)了直線和圓弧軌跡跟蹤的穩(wěn)定控制。
[Abstract]:Cable-driven parallel mechanism is a new type of parallel mechanism, which replaces the traditional rigid bar by flexible cable. Its structure is simple, its bearing capacity is strong, its workspace is flexible, and it is easy to be realized. It has been widely used in practical engineering. The emergence of cable-driven parallel mechanism is an important supplement in the family of parallel mechanism, which greatly expands the application field of parallel mechanism. However, its control method and control precision are still important factors that limit the popularization and application of cable-driven parallel mechanism in various industries. The main contents of this paper are as follows: the forward and inverse kinematics model of the four-cable-driven parallel mechanism is constructed, and the validity of the forward and inverse solution algorithm is verified by simulation; The dynamic model is established based on Lagrangian method, which lays a foundation for the design of the control system of the mechanism. Aiming at the nonlinear, strong coupling and multi-input multi-output characteristics of cable-driven parallel mechanism, an active disturbance rejection controller with strong robustness and anti-interference is designed. Simulation analysis shows that the controller can achieve high-precision trajectory control of four-cable drive parallel mechanism. The software and hardware design of the open CNC system based on industrial PC and DMC motion control card is completed. In hardware, the master-slave control structure with NC embedded in PC mode is selected, and the connection between motion control card and servo driver is realized through the interface function provided by DMC. In the software, the special control interface and the general G code control interface of the four-cable drive parallel mechanism are developed based on Visual C. Based on the nonlinear least square method, the calibration of the initial zero point of the four-cable drive parallel mechanism is completed, and the influence trend of the kinematic parameter error on the motion accuracy is predicted. The control parameters, such as interpolation number and pulse instruction, are determined in the trajectory tracking experiment, and then the stable control of linear and circular trajectory tracking is realized.
【學(xué)位授予單位】：西安理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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