The Three Translational Parallel Mechanism Driving Dynamics And Biaxial Synchronization Control Study

Kinematics chain of 6-spsthree translational parallel mechanism is composed of three groups of synchronous drive of parallel rods. Synchronous control precision and dynamic performance is the guarantee mechanism to realize the motion performance of core. Aiming at this problem, this paper presents composite control scheme of the cross coupling control algorithm is combined with fuzzy control and makes a detailed study.The main research contents were as follows:According to the structure characteristics and the structural parameters, mechanism position equation were constructed, analysis and comparison of three order inverse Jacobi matrix and six order inverse Jacobi matrix; construction of branched chain drive system transfer function, analysis of its stability and the error problem, determined the main factor effect of system error; based on the PID method is introduced the design of the single drive rod feedforward controller of the system, dual synchronous to the drive rod is controlled by the cross coupling control and fuzzy PID control algorithm combining method, under different conditions were simulated; established two motor synchronous control experimental platform, put forward a plan to realize the system, based on the experimental platform, respectively, on the hardware and software design, the hardware includes DSP controller schematic diagram, PCB design and debugging, the structure of control system and motor drive module, photoelectric encoder detection module and the potentiometer module connection; the software includes the CCS on the software programming construction of concrete, the trajectory, the cross coupling control and fuzzy PID control Combination of synchronous control algorithm was verified by the experiment and contrast, the system feedback in the process of counting registers zero problem, designed a kind of simple and effective zero algorithm.The results show that the cross coupling control algorithm is combined with fuzzy control composite control can be a good way to ensure the control requirements, high precision, which is a double pole synchronous driven parallel mechanism provides the basis for engineering application.