• CN:11-2187/TH
  • ISSN:0577-6686

›› 2006, Vol. 42 ›› Issue (9): 123-129.

• 论文 • 上一篇    下一篇

基于全域优化的高速并联机械手控制器参数整定

杨志永;黄田;梅江平;巫江   

  1. 天津大学机械工程学院
  • 发布日期:2006-09-15

WHOLE WORKSPACE OPTIMIZATION BASED PARAMETER TUNING OF HIGH-SPEED PARALLEL MANIPULATOR CONTROLLER

YANG Zhiyong;HUANG Tian;MEI Jiangping;WU Jiang   

  1. School of Mechanical Engineering, Tianjin University
  • Published:2006-09-15

摘要: 提出一种新的定常PID参数整定方法。该方法综合考虑机电耦合效应、全域综合性能及随位姿实时变化的惯性负载,在操作空间内设计三条带有权重的运动轨迹,利用运动学正、逆解模型及刚体动力学逆解模型,直接建立以末端执行器操作空间的方均根误差最小为优化目标的整定方案,对伺服系统控制器的参数进行了整定。通过实例分析,给出使系统在整个工作空间内趋于最优的控制器参数的范围。该方法有效地解决了传统整定方法因其多目标函数相互制约而难以得到最优解的问题。试验验证该方法的正确性和有效性。

关键词: 并联机械手, 参数整定, 伺服系统, 多面体磨粒, 光密度, 积分光密度, 磨刃二面角, 平均积分光密度, 数字图像处理

Abstract: A new tuning method of constant PID parameters for parallel manipulator is investigated. Considering the mechatronics coupling, characteristics of the whole workspace and variable inertia load along with the pose, three trajectories with different weights are selected. Then inverse kinematics and inverse dynamic model are set up by using vector method and virtual power principle. Making the minimized following trajectory errors of end effector as optimized goal, the controller parameters could be tuned. An example is adopted with one parallel manipulator-Diamond which is developed by Tianjin University, and the values of controller parameters can be given according to the above theory. The problem that the multiobjective functions contradict each other is also solved. At last, a series of experiments are done for validating the correctness and validity of the theory.

Key words: Parallel manipulator, Parameter tuning, Servo system, average integral optical density, digital image processing, grinding blade dihedral angle, integral optical density, optical density, polyhedral abrasive grains

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