【摘要】 为了对并联机构实施闭环控制,设计了6自由度动平台的位形检测装置,并以动平台的位形误差及其微分、积分构造系统被控制量。针对并联机构普遍存在难以准确表示的非线性因素的问题,提出预估校正法,分析这些因素对机构性能的影响,确定它们可能的形式,从而将它们处理成具有可变参数的因素。利用动平台的位形误差和可变参数的预估误差构造李雅普诺夫函数,以机构系统满足稳定性条件为准则,导出可变参数的预估值和机构输入的自适应控制律,使系统具有自动调节结构参数的能力和渐近稳定的动态性能。更多还原

【Abstract】 In order to implement the closed-loop control of parallel mechanism,the 6 degree of freedom motion platform configuration detection device is designed,and the motion platform configuration error and its differential,integral structure system is to control the amount. For the parallel mechanism existing problem of nonlinear factors being difficult to accurate representation,the method of the predictor corrector method is put,and analyzes influence of these factors on the device performance,to determine those possible form,thus they will be processed into factors with variable parameters. Using the configuration error of moving platform and variable parameter estimate error to construct Lyapunov function,and the organization system is to meet the stability conditions for the guidelines,exporting input variable parameter estimates and institutions of the adaptive control law,making the system have the ability to automatically adjust the structure parameters and the asymptotic stability of dynamic performance.更多还原