Control Method Research And Control System Design Of New Parallel Pointing Mechanism

The pointing mechanism is a key component in the aerospace field.With the development of aerospace technology,the requirements for the precision and control of the pointing mechanism’s movement are getting higher and higher.A new type of3-RRCPR parallel pointing mechanism is used as the research object to realize its high-precision motion control.The inverse kinematics solution of the parallel pointing mechanism is analyzed,the joint drive model is constructed,the control method of the parallel pointing mechanism is studied,the hardware system and software system of the parallel pointing mechanism are designed and built,and the effectiveness of the control method is verified through software simulation and experimental analysis.Firstly,based on the configuration characteristics of the new 3-RRCPR parallel pointing mechanism,the kinematics inverse analysis and simulation verification are carried out.According to the requirements of the work task,the motion mode of the parallel pointing mechanism is divided.In the point motion mode,a spherical shortest path planning method is adopted,and the spherical spiral planning path is designed in the scanning mode.Secondly,the mathematical models of the servo motor and the voice coil motor are constructed separately.In order to improve the motion accuracy of the drive motor of the parallel pointing mechanism,the improved fuzzy neural network PID control method is studied.The mathematical model of the drive motor is constructed in MATLAB as the control object,and the simulation control is carried out by improving the fuzzy neural network PID,and the control performance of the improved fuzzy neural network PID is analyzed and verified.Thirdly,the control based on the parallel mechanism is essentially the characteristic of the multi-motor cooperative control.From the perspective of the multi-motor cooperative control,the high-precision control of the parallel pointing mechanism is studied,and a sliding mode deviation coupling coordination with adaptively adjustable parameters is constructed.The improved fuzzy neural network PID and sliding mode deviation coupling coordinated control are constructed into an improved sliding mode composite controller,and a multi-motor model is constructed in MATLAB as the control object.It is verified that the improved sliding mode composite controller can reduce the tracking error and coordination error of the parallel pointing mechanism,and improve the system performance and accuracy.Finally,the control system of the parallel pointing mechanism is constructed,based on the requirements of the work task,the software control system of the parallel pointing mechanism is developed.The joint simulation model of the parallel pointing mechanism is built in Adams and MATLAB to verify the performance of the control algorithm.The parallel pointing mechanism control system has been verified by prototype experiments.