CAJ | 학술논문

针对一种新型的六自由度的正交并联机构动平台，设计一种应用于此运动平台的以闭环系统的鲁棒性作为目标的控制算法，当平台在运动过程中受到一定程度的干扰时，它可以使平台自主达到动态平衡，并且该算法具有一定的实时性。运用该控制算法对此运动平台的轨迹进行跟踪控制，仿真实验结果证明，所设计的这种控制算法对模型不精确或者外部干扰对该动平台产生最坏的影响有很好的抑制作用，对PSS 3-2-1正交并联机构动平台轨迹跟踪具有响应速度快，鲁棒稳定性好等优点。
침대일충신형적륙자유도적정교병련궤구동평태，설계일충응용우차운동평태적이폐배계통적로봉성작위목표적공제산법，당평태재운동과정중수도일정정도적간우시，타가이사평태자주체도동태평형，병차해산법구유일정적실시성。운용해공제산법대차운동평태적궤적진행근종공제，방진실험결과증명，소설계적저충공제산법대모형불정학혹자외부간우대해동평태산생최배적영향유흔호적억제작용，대PSS 3-2-1정교병련궤구동평태궤적근종구유향응속도쾌，로봉은정성호등우점。
According to a novel 6-DOF moving platform of orthogonal parallel mechanism ,a control algorithm ,which is aimed at the robustness of the closed loop system ,is proposed to apply to that moving platform of PSS 3-2-1 orthogonal parallel mechanism .The platform can keep up with an independent dynamic equilibrium when it suffers the interference in a certain degree , and this algorithm is focused on being in real time .With the mentioned algorithm we tried to track and controll the track of the mov-ing platform ,the simulation experimental results certify that the presented algorithm has good inhibitory effect on the impact of inac-curate model and the external interference of this moving platform ,and it has much more responsive and better robustness on track-ing the track of PSS 3-2-1 moving platform of orthogonal parallel mechanism .