Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Guo-liang TAO; Ce SHANG; De-yuan MENG; Chao-chao ZHOU

doi:10.1631/FITEE.1500353

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Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Regular Papers | Updated：2022-05-19

- Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method
- 含参数初值整定和自适应鲁棒方法的3-RPS气动并联平台位姿控制
- Frontiers of Information Technology & Electronic Engineering Vol. 18, Issue 3, Pages: 303-316(2017)
- Affiliations：
  
  1The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
  2School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, China
- Author bio：
  
  E-mail:gltao@zju.edu.cn
  E-mail:czesh@zju.edu.cn
  E-mail:mengdeyuan8207@163.com
  E-mail:21425044@zju.edu.cn
- Funds：
- DOI：10.1631/FITEE.1500353
  CLC： TP273
- Received：21 October 2015，
  
  Accepted：21 March 2016，
  
  Published：2017-03
- Accepted：
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Guo-liang TAO, Ce SHANG, De-yuan MENG, et al. Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(3): 303-316.
DOI：

Guo-liang TAO, Ce SHANG, De-yuan MENG, et al. Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method[J]. Frontiers of Information Technology & Electronic Engineering, 2017, 18(3): 303-316. DOI： 10.1631/FITEE.1500353.

摘要

本文讨论了关于气缸驱动的3-RPS并联平台的一种控制方法。研究对象使用气动比例方向阀控制各驱动气缸，并建立了系统的运动学和动力学模型，采用基于反步法和在线参数辨识的自适应鲁棒控制器作为主要控制方式。同时为了满足对系统未建模部分和参数估计误差导致的干扰，将直接自适应快速补偿集成与控制器的设计中。为了避免因为在平台运动过程等实际工况中负载变化对性能造成的影响，提出了一种参数初值整定模式，提升了控制算法的适应性。通过采用这些方法，并联平台位姿轨迹跟踪性能的频响和精度均有了提升，并且负载和约束内力对平台控制性能造成的不良影响也得到了消除。不同工况下的实验显示了所设计的控制方法的良好性能，使整体平均相对误差减小到1%以内。

Abstract

A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations

a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation

the identification of parameters is taken as the initialization of unknown parameters in the controller

which can improve the adaptability of the algorithm. Using these methods

the response rate of the parameter estimation and control performance were improved significantly. The adverse effects of load and restriction forces were eliminated by the initialization and online estimation. Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization

approaching average tracking errors of less than 1%.

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Keywords

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School of Mechatronic Engineering, China University of Mining and Technology

State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University

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