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Modeling And Control Of Cable-driven Manipulator In Optic-electric Tracking System

Posted on:2022-06-30Degree:MasterType:Thesis
Country:ChinaCandidate:J B WenFull Text:PDF
GTID:2518306323479184Subject:Control Science and Engineering
Abstract/Summary:PDF Full Text Request
Optic-electric tracking servo system is a kind of real-time image detection equipment which uses infrared or visible light detection device to perform passive search.It plays a huge role in both civil and military fields and has a pivotal strategic significance.In order to solve the problem that the traditional opticelectric tracking system cannot obtain the distance information,our laboratory cooperated with the Changchun Institute of Optics and Fine Mechanics,Chinese Academy of Sciences to develop a new type of opticelectric tracking system.The system is based on the bionic principle of the foveal structure of the human eye,combining a large primary optical platform with a secondary optical system installed in a lightweight cylindrical structure.So that it has the characteristics of large field of view and high resolution,which can quickly track and locate multiple long-distance targets.Our laboratory is responsible for the research of the driving device of the secondary optical mechanism in the new optic-electric tracking system.In this dissertation,based on the needs of the new type of optic-electric tracking system for fast and accurate tracking of multiple targets and the performance indecators of the system,the cable-driven parallel manipulator is selected as the driving device of the secondary optical structure.Then the structure design of the cable-driven parallel manipulator is introduced,and the position and posture description system of the cable-driven parallel manipulator is established,and its kinematics and dynamics are analyzed.Secondly,the point-to-point trajectory planning strategy of the central moving platform is designed.On the premise of trajectory planning,a kinematics control strategy based on motor position mode is designed.On this basis,the kinematics error in the system is analyzed.In order to further improve the control precision of the system,a dynamic control strategy based on the motor torque mode in the workspace was designed.Considering the redundancy decomposition of cable force caused by the redun-dancy of the cable-driven parallel manipulator,a cable force distribution strategy based on the average feasible force was adopted based on the constraints of cable force and the real-time requirements of the system.Then the linear active disturbance rejection algorithm is used to design the controller in the dynamic control strategy.In order to verify the effect of the active disturbance rejection algorithm and cable force allocation algorithm designed in this chapter,an equal scale simulation model was established in ADAMS,and the ADAMS/Simulink co-simulation platform was built to verify the algorithm.Finally,in order to verify the control effect of the control algorithm on the actual experimental platform,participated in the construction of the principle experimental prototype of the cable-driven parallel manipulator.Experiments were carried out on the kinematics-based control scheme and the dynamics-based control scheme on the exper-imental platform,and the effect of the motion platform's switching tracking between the two target points was tested.Experimental results show that the control algorithm designed in this dissertation has a good control effect,and the dynamics-based control scheme can effectively solve the problem of cable virtual pull during movement.
Keywords/Search Tags:Optic-electric tracking system, Cable-driven parallel manipulator, Trajectory planning, Force distribution, Active disturbance rejection control
PDF Full Text Request
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