Trajectory Control of the Cable-Based Parallel Mechanism Based on Dynamics
This paper is concerned with trajectory control system of cable-based parallel mechanisms (CPM) based on dynamics. Firstly, the dynamic formulation of the CPM with non-negligible cable mass was established by means of Newton-Euler formulation. Secondly, considering the inherent characteristics of nonlinearity, slow time-variant, and multivariable coupled system, a decentralized control approach is proposed, and an immune proportional-integral-derivative controller, using fuzzy logic controller as anti-body-suppressed function to improve the self-tuning capability, is developed for each subsystem of the CPM to realize the trajectory tracking of the end-effector. Finally, simulation is performed to validate and highlight properties of the proposed control strategy in the presence of external disturbances.
Bin Zi Zhencai Zhu Mingsheng Wei
School of Mechanical and Electrical Engineering,China University of Mining and Technology,Xuzhou,Jia School of Physics and Electronic Engineering,Xuzhou Normal University,Xuzhou,Jiangsu,China
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
1398-1403
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）