The dynamics of PM is nonlinear and the parameters are not certain.Control methods based on kinematics or PID algorithm are not adaptive and can not obtain high performance. This paper presented an adaptive algorithm based on the compute torque structure. The inverse dynamics was computed with ideal actuator values and the feedback torque was calculated in actuator space. With a planar PM platform, the experimental results show that the adaptive algorithm can get much better performance than that of PID or fuzzy PID algorithm.

针对并联机构的动力学模型有很强的非线性,模型参数不易获得,基于运动学的控制或PID闭环控制方法适应性差、精度低的不足,提出了一种以计算力矩结构为基础的改进的自适应控制方法,利用驱动铰的理想值进行逆动力学计算,在驱动空间上计算反馈力矩。在分析一个平面冗余链并联机构的动力学模型后,给出了几种算法的对比实验结果,实验结果表明,所提出方法能获得更小的跟踪误差,具有更好的适应性。

并联机构, 冗余驱动, 动力学模型, 自适应控制