考虑输入饱和和状态受限的九索并联机构自适应容错控制

doi:10.3901/JME.2018.21.001

机械工程学报 ›› 2018, Vol. 54 ›› Issue (21): 1-10.doi: 10.3901/JME.2018.21.001

• 机构学及机器人 • 下一篇

考虑输入饱和和状态受限的九索并联机构自适应容错控制

易旺民^1,2,3, 郑昱², 刘辛军¹, 孟凡伟^2,3

1. 清华大学机械工程系北京 100084;
2. 北京卫星环境工程研究所北京 100094;
3. 北京市航天产品智能装配技术与装备工程技术研究中心北京 100094

收稿日期:2017-11-21 修回日期:2018-05-01 出版日期:2018-11-05 发布日期:2018-11-05
通讯作者: 易旺民(通信作者),男,1979年出生,研究员。主要研究方向为航天装配技术、机器人技术及系统。E-mail:yiwangmin79@hotmail.com
作者简介:郑昱,男,1993年出生,硕士研究生。主要研究方向为索并联机构优化与控制。E-mail:18500971876@163.com
基金资助:
国家自然科学基金资助项目（51405024）。

Adaptive Fault Tolerant Control for a Parallel Mechanism Driven by Nine Cables with Input Saturation and Full-state Constrains

YI Wangmin^1,2,3, ZHENG Yu², LIU Xinjun¹, MENG Fanwei^2,3

1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084;
2. Beijing Institute of Spacecraft Environment Engineering, Beijing 100094;
3. Beijing Engineering Research Center of the Intelligent Assembly Technology and Equipment for Aerospace Product, Beijing 100094

Received:2017-11-21 Revised:2018-05-01 Online:2018-11-05 Published:2018-11-05

摘要/Abstract

摘要： 针对一种用于月面起飞模拟的九索驱动并联机构，在考虑输入饱和和状态受限的情况下，采用基于反步法的自适应容错控制方法（Adaptive fault tolerant control，AFTC）设计九索并联机构控制器，提升索并联机构在驱动系统故障状态下的运行性能。控制器设计过程中，以乘性误差和加性误差的形式描述驱动系统故障对控制信号的影响，设计带有指令滤波器的辅助系统确保控制信号满足输入饱和条件，采用正切型界限李雅普诺夫方程（Tan-type barrier Lyapunov function，tan-type BLF）设计控制器确保动平台状态满足限制条件。仿真试验表明，基于AFTC方法设计的控制器可以有效辨识控制信号中的乘性误差和加性误差，在考虑输入饱和和状态受限的情况下，位置误差和姿态误差均可以被控制在一定范围内，同时保证控制过程中，九索并联机构索力连续变化且满足索力限制条件。

关键词: 输入饱和, 索并联机构, 状态受限, 自适应容错控制

Abstract: A novel adaptive fault tolerant control (AFTC) scheme, which is based on backstepping method, is used for the position and attitude tracking of a parallel mechanism driven by nine cables with both multiplicative and additive actuator faults.Both input saturation and full-state constrains are considered. A novel tan-type barrier Lyapunov functions (BLF) is taken to handle the full-state constrains. An auxiliary system is designed to analyze the effect of the input saturation. Simulation confirms that the estimation error of unknown actuator faults are bounded and the position and attitude tracking errors will converge to a neighborhood of zero. Meanwhile, the required full-state constrains and the constrains of cable force will not be violated during operation.

Key words: adaptive fault tolerant control, cable-driven parallel mechanism, full-state constrains, input saturation

中图分类号:

TG156

易旺民, 郑昱, 刘辛军, 孟凡伟. 考虑输入饱和和状态受限的九索并联机构自适应容错控制[J]. 机械工程学报, 2018, 54(21): 1-10.

YI Wangmin, ZHENG Yu, LIU Xinjun, MENG Fanwei. Adaptive Fault Tolerant Control for a Parallel Mechanism Driven by Nine Cables with Input Saturation and Full-state Constrains[J]. Journal of Mechanical Engineering, 2018, 54(21): 1-10.

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考虑输入饱和和状态受限的九索并联机构自适应容错控制

Adaptive Fault Tolerant Control for a Parallel Mechanism Driven by Nine Cables with Input Saturation and Full-state Constrains

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