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针对球面5R并联机构“PC机+PMAC卡”开放式半闭环运动控制系统,分别在位置控制模式下设计PID位置控制器、速度控制模式下设计PID+速度/加速度前馈+NOTCH滤波位置控制器和滑模变结构位置控制器实现机构的运动学控制;应用Simulink建立运动控制系统仿真模型并依据仿真结果优化各控制策略控制器参数;利用伺服器的参数调整功能、PMAC软件系统及其提供的OPEN SERVO开放伺服算法,实现各控制策略位置控制器并整定其参数;通过对比分析仿真结果和实验结果,证明各控制策略的正确性和有效性。
For the spherical 5R parallel mechanism “PC + PMAC card ” open semi-closed loop motion control system, respectively, in the position control mode design PID position controller, speed control mode design PID + speed / acceleration feed forward + NOTCH filter position control And sliding mode variable structure position controller to realize kinematic control of the mechanism. The simulation model of motion control system is established by using Simulink and the parameters of each control strategy are optimized according to the simulation results. By using the parameter adjustment function of the servo system, the PMAC software system and its provision OPEN SERVO open servo algorithm to achieve each control strategy position controller and set its parameters; by comparing the simulation results and experimental results to prove the correctness and effectiveness of each control strategy.