Mechatronic Model Based Controller Design On A High Speed Parallel Manipulator

The dissertation deals with some key issues relevant to the controller design and digital design method for a newly patented high-speed parallel manipulator. Meanwhile, a Virtual Prototyping based co-simulation platform is also established according to the ADAMS and Matlab/Simulink software. The following work has been completed.(1) According to the equivalent torque principle, a mechatronic (motor-mechanism coupling) dynamic model is deduced for real-time control. The mechanism and servo driving subsystems are formulated by Virtual Work Principle and Field Orient Control Principle respectively. Based on the model, one tuning method of fixed PID parameters is optimized by taking the least mean square error of moving platform trajectories as cost function.(2) In order to promote the ability that the manipulator traces the prescribed trajectory, a model based computed torque controller is described in detail, and a neural network algorithm is also used to optimize controller parameters real-timely under the consideration of systematic nonlinear, modeling error and outer disturbance. The neural network based computed torque controller increases the robustness of system dramatically.(3) A Virtual Prototyping based co-simulation platform is constructed to verify the correctness and validity of proposed mechatronic dynamic model and controllers.The above researches not only give guidance to the NC development for high-speed parallel manipulator but also lay a solid foundation for physical prototype manufacturing and its industrial application.