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11pt;">1.3.5</span><span class="17" style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; 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: 宋体; letter-spacing: 0pt; font-size: 11pt;">并联机器人的控制策略主要包括基于模型的常规控制策略和智能算法的智能控制 策略，其中常规控制策略主要包括自适应控制、鲁棒控制、解耦控制、</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制等</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[56]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋体; 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: 宋体; letter-spacing: 0pt; font-size: 11pt;">自适应控制方法对先验知识依赖较少，能够不断辨识机器人的实时运行状态，通过 较强的学习能力提取有效的模型信息，并对模型进行不断完善。目前，并联机器人的自 适应控制一般是根据动力学模型分离出相关物理参数，然后将非线性和强耦合的动力学 模型构造成待辨识参数的线性表达式，再利用己经成熟的线性系统自适应控制理论来设 计全局收敛自适应控制率</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[57]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。例如，</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Shang</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">等考虑到摩擦力和动力学特性的不确定性， 对摩擦力模型和动力学模型参数进行选取，并作为自适应控制参数，把这些自适应参数 从并联机器人动力学模型中分离出来，设计了相应的自适应的摩擦力补偿控制</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[58]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">和自适 应的动力学补偿控制</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[59]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋体; 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: 宋体; letter-spacing: 0pt; font-size: 11pt;">鲁棒控制就是通过对控制器的设计，使闭环系统存在一定程度的参数不确定性，并且能够保持较髙稳定性、保持一定动态特性品质的控制</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[6()]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。鲁棒控制是比较容易实现的固定控制，可在不确定因素的一■定范围内，保证系统控制的性能指标和稳定性。并联机器人的鲁棒控制主要采用鲁棒控制、智能控制、反馈线性化控制、滑模变结构控制等方法。</span><span style="font-family: 宋体; 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: 宋体; letter-spacing: 0pt; font-size: 11pt;">解耦控制就是通过寻找控制规律来消除多输入和多输出耦合系统各回路之间的耦 合关系，将耦合解耦为多个单输入和单输出的独立系统，或者使耦合限制在一定程度, 传统的解耦方法主要采用基于模型的补偿解耦方法。</span><span style="font-family: 宋体; 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 class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制器具有结果简单、易于实现、鲁棒性强等优良性能，使其广泛于机器人运 动控制领域，随着人工智能技术的不断发展，许多新方法逐步应用于</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制器设计, 实现了最优或次优</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制参数的获取。因此，结构简单的</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">控制器应用于那些高 阶、时滞、时变、交叉耦合、非线性对象的控制成为了可能</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[61]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋体; 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: 宋体; letter-spacing: 0pt; font-size: 11pt;">目前，并联机器人的控制策略研宄领域，还包括并联机器人的多目标协同控制、位 姿-速度-加速度协同智能控制、精准协同容错控制、力/位解耦协同智能控制等。</span><span style="font-family: 宋体; 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: 宋体; letter-spacing: 0pt; font-size: 11pt;">此外，刚度与静力学分析、运动误差补偿等对并联机器人性能研宄也具有重要的理 论价值</span><span style="font-family: 宋体; 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:宋体;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“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <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'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' 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