Control Strategy of a Hydraulic 6-DOF Parallel Robot
YANG Hao-quan1,2, ZHAO Ke-ding1, WU Sheng-lin1
1. School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China; 2. Kunming Shipbuilding Equipment Co., Ltd, Kunming 650051, China
Abstract:The prototype of a hydraulic 6-DOF parallel robot developed is presented in this paper. Through the analysis of its system characteristics, a fuzzy adaptive PID control strategy with input and output feedforward compensation is put forward. Experiment study is made on the prototype, and the results indicate that, with this control strategy, the asymmetrical characteristics of the system can be greatly compensated, and the response time, movement accuracy and resistance to load disturbance of the system can be improved.
[1] 杨灏泉.飞行模拟器六自由度运动系统及其液压伺服系统的研究[D].哈尔滨:哈尔滨工业大学,2002.61-65. [2] 黄茹楠,高英杰,王洪瑞.并联机器人的一种鲁棒最优控制结构[J].燕山大学学报,1999,23(2):175-177. [3] 黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.303-350. [4] Chung I F, Chang H H, Lin C T. Fuzzy control ofa six-degree motion platform stability analysis[A]. Proceedings of the IEEE International Conference on System, Man, and Cybernetics[C]. Tokyo:IEEE,1999,1.325-330. [5] Graf R, Vierling R, Dillmann D. A flexible controller for a stewart platform[A]. Proceedings of the 1998 Second International Conference on Knowledge-based Intelligent Electronic Systems[C]. 1998,2.52-59. [6] 张日华.六自由度飞行模拟器的单通道电液位置伺服系统的研究[D].哈尔滨:哈尔滨工业大学,1997.81-82. [7] 张业建,李洪人.阀控非对称缸电液伺服系统控制策略研究[J].中国机械工程,2001,10(10):1172-1175.