• CN:11-2187/TH
  • ISSN:0577-6686

›› 2007, Vol. 43 ›› Issue (3): 177-181.

• 论文 • 上一篇    下一篇

2自由度混合驱动机器实时在线误差补偿方法

王喆;张策   

  1. 天津大学机械工程学院
  • 发布日期:2007-03-15

METHOD OF REAL-TIME ERROR COMPENSATION FOR 2-DOF HYBRID MACHINE

WANG Zhe;ZHANG Ce   

  1. School of Mechanical Engineering, Tianjin University
  • Published:2007-03-15

摘要: 针对混合驱动压力机的工作特点,研究混合驱动压力机的运动控制控制方法,以变结构控制策略为基础,提出基于逆运动学理论的混合驱动压力机运动控制实时在线误差补偿的运动控制方法,并进行仿真研究。开发混合驱动压力机运动控制实时在线误差补偿的运动控制软件,分别对混合驱动压力机试验机构无工作载荷和有工作载荷的工况进行试验研究,并对试验结果进行对比。试验结果表明,实时在线误差补偿运动控制理论对混合驱动机构的运动误差补偿是正确有效的,其运动控制的控制精度、快速响应和稳定性都能达到运动控制的要求。

关键词: 变结构, 混合驱动压力机, 控制策略, 误差补偿

Abstract: Based on the characteristic of the hybrid mechanism, the control method is studied. The control strategy of variable-structure is discussed and the method of real-time error compensation based on the Inverse kinematics is proposed. The software for the experiment is developed and the experiment is done under the different operating mode with load or no load. The result of the experiment proves that the control strategy and the method of real-time error compensation be correct. The control precision, the rapidity and the stability are all in accordance with the desire of the motion control.

Key words: Error compensation, Control strategy, Hybrid-driven machine, Variable-structure

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