中国机械工程2017，Vol.28Issue(4)：391-397,403,8.DOI:10.3969/j.issn.1004-132X.2017.04.003
考虑关节摩擦的3-UPS/PU并联机构模糊自适应滑模控制
Adaptive Fuzzy Sliding Mode Control of 3-UPS/PU Parallel Mechanisms Including Joint Frictions
摘要
Abstract
In order to overcome the tracking aberration caused by joint friction mutations of a 3-UPS/PU parallel mechanism,a fuzzy adaptive sliding mode control was proposed.Firstly,dynamics model of the mechanisms with respect to platform workspaces was constructed.Considering the tradi-tional sliding mode control (SMC)had deficiency that driving force chattering and adaptive SMC (ASMC)was sensitive to friction mutations,a fuzzy ASMC(FASMC)was proposed,which might es-timate and compensate the model uncertainty including j oint friction based on adaptive theory.And the adaptive gains were adj usted dynamically by means of fuzzy logic system.Consequently,FASMC may estimate the frictions more accurately and restrain friction mutations more efficiently compared with ASMC,and the system robustness was improved.This control method did not need to rely on the friction model and had a simple structure,therefore it was suitable for complicated and uncertain systems such as parallel mechanisms.The simulation results show that the proposed control method may estimate and overcome the friction disturbances efficiently and improve the control precision,the chattering problems from driving torque are also resolved.关键词
3-UPS/PU并联机构/关节摩擦/动力学模型/自适应滑模/模糊逻辑Key words
3-UPS/PU parallel mechanism/j oint friction/dynamics model/adaptive sliding mode/fuzzy logic分类
机械制造引用本文复制引用
张达,原大宁,刘宏昭..考虑关节摩擦的3-UPS/PU并联机构模糊自适应滑模控制[J].中国机械工程,2017,28(4):391-397,403,8.基金项目
国家自然科学基金资助项目(51275404) （51275404）
陕西高校省级重点实验室科研项目(2010JS080) （2010JS080）
