Switching Control Of Planar Five-bar Parallel Mechanism With Jumping Load

In practical applications,the parameters of a plane five-bar mechanism change with the load.In response to this problem,a switched model is derived for the planar five-bar parallel mechanism using the Lagrange method.And a controller design scheme is given using the Lyapunov-like function in the dwell time frame.Applying these methods to the switched model,we design the switched sliding-mode tracking controller.The idea is applied to the switching planar five-bar parallel mechanism model to design a switched sliding mode tracking controller.Finally,in order to improve the control efficiency of the adaptive control system,which a parameter estimation method is given.The main work of this artivle is as follows:(1)Sliding mode tracking controller design of the five-bar parallel mechanism.Based on the dynamic model of planar five-bar parallel mechanism,the trajectory tracking sliding mode controller of the robot is designed with sliding mode control theory.The asymptotic tracking performance of the system is verified by Matlab/Simulink simulation.(2)The tracking control problem of the plane five-bar parallel mechanism in the presence of load jumping.The switching signal in the switching model is used to represent the parameter jump caused by the load switching so that the switching model of the planar five-bar parallel mechanism is established.The lyapunov function and the average dwell time method are used to design the sliding mode tracking controller for the system.And asymptotic tracking is realized under the load jumping.(3)In order to improve the control quality of the adaptive control system,a parameter estimation method is given.The finite-time parameter estimator of the adaptive system is designed,which the parameter rstimation value and the online update law are given.And the robust performance is analyzed.It is shown in the simulation that substituting the real value intoo the controller can effectively improve the control performance.(4)Experiment is carried out to verify the effectiveness of the controller using a five-bar linkage device produced by the Canada's Quanser company.In the simulink envrionment,the construction of the controller and the interface settings of the hardware device are completed.The tracking results of the non-switching controller and the switching controller in the case of a load jump are obtained.The superiority of the switching controller with respect to the non-switching controller is verified.