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id="tpnrxl7j" class="title"> <h3><a>并聯機器人研究現狀-控制方法<small></small></a></h3> </div> <!-- 頁面標題結束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="tpnrxl7j" class="container"> <!-- 正文 --> <div id="tpnrxl7j" class="lead" id="print"> <p> <span id="tpnrxl7j" class="17" style="line-height: 11pt; text-indent: 0pt; font-family: 宋體; letter-spacing: 1pt; font-size: 11pt;">1.3.5</span><span id="tpnrxl7j" class="17" style="line-height: 11pt; text-indent: 0pt; font-family: 宋體; letter-spacing: 1pt; font-size: 11pt;">控制方法</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">并聯機器人的控制策略主要包括基于模型的常規控制策略和智能算法的智能控制 策略，其中常規控制策略主要包括自適應控制、魯棒控制、解耦控制、</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制等</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[56]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">自適應控制方法對先驗知識依賴較少，能夠不斷辨識機器人的實時運行狀態，通過 較強的學習能力提取有效的模型信息，并對模型進行不斷完善。目前，并聯機器人的自 適應控制一般是根據動力學模型分離出相關物理參數，然后將非線性和強耦合的動力學 模型構造成待辨識參數的線性表達式，再利用己經成熟的線性系統自適應控制理論來設 計全局收斂自適應控制率</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[57]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。例如，</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Shang</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">等考慮到摩擦力和動力學特性的不確定性， 對摩擦力模型和動力學模型參數進行選取，并作為自適應控制參數，把這些自適應參數 從并聯機器人動力學模型中分離出來，設計了相應的自適應的摩擦力補償控制</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[58]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">和自適 應的動力學補償控制</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[59]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">魯棒控制就是通過對控制器的設計，使閉環系統存在一定程度的參數不確定性，并且能夠保持較髙穩定性、保持一定動態特性品質的控制</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[6()]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。魯棒控制是比較容易實現的固定控制，可在不確定因素的一■定范圍內，保證系統控制的性能指標和穩定性。并聯機器人的魯棒控制主要采用魯棒控制、智能控制、反饋線性化控制、滑模變結構控制等方法。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">解耦控制就是通過尋找控制規律來消除多輸入和多輸出耦合系統各回路之間的耦 合關系，將耦合解耦為多個單輸入和單輸出的獨立系統，或者使耦合限制在一定程度, 傳統的解耦方法主要采用基于模型的補償解耦方法。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制器具有結果簡單、易于實現、魯棒性強等優良性能，使其廣泛于機器人運 動控制領域，隨著人工智能技術的不斷發展，許多新方法逐步應用于</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制器設計, 實現了最優或次優</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制參數的獲取。因此，結構簡單的</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制器應用于那些高 階、時滯、時變、交叉耦合、非線性對象的控制成為了可能</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[61]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">目前，并聯機器人的控制策略研宄領域，還包括并聯機器人的多目標協同控制、位 姿-速度-加速度協同智能控制、精準協同容錯控制、力/位解耦協同智能控制等。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">此外，剛度與靜力學分析、運動誤差補償等對并聯機器人性能研宄也具有重要的理 論價值</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋體;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并聯工業機械手臂分析設計與實現”，因為編輯困難導致有些函數、表格、圖片、內容無法顯示，有需要者可以在網絡中查找相關文章！本文由伯特利數控整理發表文章均來自網絡僅供學習參考，轉載請注明！</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div id="tpnrxl7j" class="blank30"></div> <!-- tag --> <div id="tpnrxl7j" class="blank10"></div> 標簽： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>數控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>數控機床</a> <a href='/index.php?case=tag&act=show&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>高速加工中心</a> 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備注：為保證文章的完整度，本文核心內容由PDF格式顯示，如未有顯示請刷新或轉換瀏覽器嘗試，手機瀏覽可能無法正常使用！本文摘要：通過對混聯五軸加工中心自適應深度學習控制方法的 研 究，可 知 此 方 法 的 創 新 之 處 在 于：１）建 立 了 機 床 的 運 動 學 … <a href="/bethel/5-aix/show-2965.html" target="_blank">[了解更多]</a></p> </div> <div id="tpnrxl7j" class="news-list list-border list-border-w"> <div id="tpnrxl7j" class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="五軸加工中心和五軸鉆攻中心在機測量探頭補償" href="/bethel/5-aix/show-2959.html" target="_blank">五軸加工中心和五軸鉆攻中心在機測量探頭補</a></h4> <p>在機測量技術由于其成本低、檢測效率高、無需二次裝夾等優勢被廣泛用于零件加工測量當中，使得五軸加工中心和五軸鉆攻中心，同時又兼具測量功能。在機測量系統的構成如圖1所示，硬件部分主要是由高精度探頭、信號接收器、機床整個本體，軟件部分由機床控制系統、測量軟件等組成[8]。待零件加工完成… <a href="/bethel/5-aix/show-2959.html" target="_blank">[了解更多]</a></p> </div> <div id="tpnrxl7j" class="news-list list-border list-border-w"> <div id="tpnrxl7j" class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="五軸加工中心進給系統動態誤差影響因素" href="/bethel/5-aix/show-2958.html" target="_blank">五軸加工中心進給系統動態誤差影響因素</a></h4> 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