【摘要】 套索传动系统因其结构简单、传动灵活以及可在狭小弯曲空间内实现远距离动力传输等特点，被广泛应用于众多领域。然而套索本身具有柔性且套索与套管在传动过程中存在摩擦，导致系统内部存在位移间隙、迟滞和死区等非线性现象，极大地影响系统末端运动控制精度。基于库仑摩擦模型和Lugre摩擦模型建立了套索传动系统的静力学模型和动力学模型，根据正向静力学模型推导出系统传动逆模型。提出了一种基于前馈补偿的滑模补偿控制策略，通过滑模控制算法结合前馈补偿实现对系统的精确控制，并在有无前馈补偿控制的对比试验中验证了前馈补偿算法的有效性。最后，分别在无干扰以及有干扰两种条件下进行比例积分微分控制和滑模补偿控制算法的性能对比试验，结果证实滑模补偿控制算法应用于套索传动领域的可行性和优越性。更多还原

【Abstract】 The tendon-sheath transmission system is widely utilized across various fields due to its simple structure, agile transmission characteristics, and capability for long-distance power transmission in narrow and curved space. However, the inherent flexibility of the tendon, along with friction between the tendon and the casing during operation, which leads to nonlinear phenomena such as displacement gap, hysteresis and dead-zone within the system. These issues considerably affect the precision of control over the system’s end motion. Firstly, the static model and dynamic model of the tendon-sheath transmission system were established based on the Coulomb friction model and the Lugre friction model theory. In addition, the inverse transmission model of the system was deduced according to the forward static model. Secondly, a sliding mode compensation control strategy based on feedforward compensation was proposed, and the precise control of the system was realized by combining the sliding mode control algorithm with feedforward compensation. Then, the effectiveness of feedforward compensation algorithm was verified in the comparative experiment with or without feedforward compensation control. Finally, performance comparison experiments were conducted on proportional-integral-differential control and sliding mode compensation control algorithms with/without interference conditions, and the results confirm the feasibility and superiority of the sliding mode compensation control algorithm in the field of tendon-sheath transmission.更多还原