電液伺服驅動並聯式運動平台之順滑模態反覆式學習控制

Abstract

近年來並聯式機器人已廣泛應用於工業界，如機械加工、航空、太空飛行模擬及其他相關自動化整合應用等。因此完整建立電液伺服驅動並聯式運動平台之動態方程式，並設計一強健且具自我學習之智慧型控制器，使運動平台能達到精密定位及準確軌跡追隨，有其必要性。電液伺服驅動器本身為一種非線性系統，將其並聯組成六軸運動平台後，系統複雜度將大幅提高，故控制器設計尤其相對重要。本文中使用PID型反覆式學習控制器以及順滑模態反覆式學習控制器，實現電液伺服驅動並聯式運動平台之定位控制及動態軌跡追隨模擬。 研究結果顯示順滑模態反覆式學習控制器在平台控制定位及運動軌跡學習速率上，優於PID型反覆式學習控制器，且順滑模態反覆式學習控制器具有良好系統強健性。Recently, parallel robots are widely used in the machining, aerospace simulation, and other automation applications. Therefore, it is required to develop the dynamic models of the electro-hydraulic servo parallel kinematic platform. However, an electro-hydraulic servo system is a highly nonlinear such that it substantially increases the complexity of the parallel kinematic platform, of the design is thus important. In this paper, the PID iterative learning controller and the sliding-mode iterative learning controller are utilized to control the position and the trajectory tracking of the parallel kinematic platform. The simulation results show that the sliding-mode iterative learning controller is superior to PID iterative learning controller, especially in the reference position tracking and learning speed. Sliding-mode iterative learning controller not only can provide good positioning and iterative tracking abilities, but also is able to obtain the good robustness.