Research On Control Method For The Wire-Driven Parallel Robot Support System And Prototype Experiments

Based on the domestic and foreign research status of wire-driven parallel robot and research status of control technology,using Wire-Driven Parallel Robot with 8 wires(WDPR-8)support system as the starting point of wind tunnel dynamic test,its kinematics,dynamics and control method are deeply researched and analyzed.Kinematics control experiments and dynamics control experiments are carried out.The composition of WDPR-8 support system is introduced.Based on the basic idea of functional design and structure design,an electrical control cabinet is designed for WDPR-8 support system.The relationship between the dynamic and static coordinate system of WDPR-8 support system is described,and the inverse kinematics of the pose is analyzed in detail,and the expression of wire-length for control is obtained.The dynamic modeling of the end effector and the driving system is carried out respectively,and the whole dynamic model of the system is formulated.A PD control is proposed for WDPR-8 support system.Firstly,the closed-loop control chart of the system is established.Secondly,the closed-loop control diagram of the system is established and the PD control law is designed.The designed PD control law is substituted into the whole dynamic equation,and the state space expression is established.Then,the Lyapunov second method is used to analyze the stability of the system.Finally,the simulation analysis for the pitch motion,the compound motion and the six degree of freedom motion are carried out,the simulation results show that the tracking effect of the system is good.WDPR-8 support system is difficult to get accurate system parameters due to the influence of uncertain factors such as experimental environment and external disturbances.Therefore,this paper proposes a RBF neural network control and analyzes the stability of the system.The simulation analysis is carried out by MATLAB/SIMULINK,and the results show that the RBF neural network control is correct and effective.Simple position control and simple torque control can not control motor well.Therefore,a force/position hybrid control scheme based on HJI theorem and RBF neural network is proposed in this paper.The stability analysis of the system is carried out and the simulation analysis is carried out by MATLAB/SIMULINK.The results show that the proposed control scheme is effective.Finally,the kinematics control experiment and the dynamic control experiment of the WDPR-8 support system are carried out respectively.The experimental results show that the dynamic control experiment solves the problem of aircraft model dithering caused by the random movement of the motor,which is more advantageous than the kinematics control experiment.