• 机械基础工程 •

### 考虑关节摩擦的3-UPS/PU并联机构模糊自适应滑模控制

1. 西安理工大学机械与精密仪器工程学院,西安,710048
• 出版日期:2017-02-25 发布日期:2017-02-24
• 基金资助:
国家自然科学基金资助项目(51275404);
陕西高校省级重点实验室科研项目(2010JS080)

### Adaptive Fuzzy Sliding Mode Control of 3-UPS/PU Parallel Mechanisms Including Joint Frictions

ZHANG Da;YUAN Daning;LIU Hongzhao

1. School of Mechanical and Precision Instrument Engineering,Xi'an University of Technology,Xi'an,710048
• Online:2017-02-25 Published:2017-02-24

Abstract: In order to overcome the tracking aberration caused by joint friction mutations of a 3-UPS/PU parallel mechanism, a fuzzy adaptive sliding mode control was proposed. Firstly, dynamics model of the mechanisms with respect to platform workspaces was constructed. Considering the traditional sliding mode control(SMC) had deficiency that driving force chattering and adaptive SMC(ASMC) was sensitive to friction mutations, a fuzzy ASMC(FASMC) was proposed, which might estimate and compensate the model uncertainty including joint friction based on adaptive theory. And the adaptive gains were adjusted dynamically by means of fuzzy logic system. Consequently, FASMC may estimate the frictions more accurately and restrain friction mutations more efficiently compared with ASMC, and the system robustness was improved. This control method did not need to rely on the friction model and had a simple structure, therefore it was suitable for complicated and uncertain systems such as parallel mechanisms. The simulation results show that the proposed control method may estimate and overcome the friction disturbances efficiently and improve the control precision, the chattering problems from driving torque are also resolved.