Controller Design Based on Mechatronic Model

Abstract:

The dissertation deals with some key issues relevant to the controller design and digital design method for a newly patented high-speed parallel manipulator. Meanwhile, a Virtual Prototyping based co-simulation platform is also established according to the ADAMS and Matlab/Simulink software. In order to promote the ability that the manipulator traces the prescribed trajectory, a model based computed torque controller is described in detail, and a neural network algorithm is also used to optimize controller parameters real-timely under the consideration of systematic nonlinear, modeling error and outer disturbance. The neural network based computed torque controller increases the robustness of system dramatically.

• Periodical: Applied Mechanics and Materials (Volume 526)
• Pages: 351-356
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.526.351
• Online since: February 2014
• Authors: Li Xi Yue*, Jian Hui Zhou, Yan Nan Lu, Chong Chong Ji, Zhi Yong Yu
• Keywords: Computed Torque Control, High Speed Parallel Manipulator, Mechatronics Dynamic Model, Neural Network (NN)

References

[1] C. Elmas, O. Ustun and H. H. Sayan, A neuro-fuzzy controller for speed control of a permanent magnet synchronous motor drive, Expert Systems with Applications, In Press, Corrected Proof, Available online 7 November (2006).

DOI: 10.1016/j.eswa.2006.10.002

[2] Z. Y. Yang, T. Huang, J. P. Mei and J. Wu, Whole workspace optimization based parameter tuning of high-speed parallel manipulator controller, Chinese Journal of Mechanical Engineering, 2006, 42(9): 123-129, in Chinese.

DOI: 10.3901/jme.2006.09.123

[3] Y. X. Su, S. Dong and R. Lu, Nonlinear PD Synchronized Control for Parallel Manipulators, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005: 1374–1379.

DOI: 10.1109/robot.2005.1570307

[4] L. Ren, J. K. Mills and D. Sun. Controller design applied to planar parallel manipulators for trajectory tracking control, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005: 968–973.

DOI: 10.1109/robot.2005.1570242

[5] H. L. Cui, Z. Q. Zhu and Z. X. Gan, Kinematic analysis and error modeling of TAU parallel robot, Robotics and Computer-Integrated Manufacturing, 2005, 21(6): 497-505.

DOI: 10.1016/j.rcim.2004.07.018

[6] A. Mohammed, S. Liu and Z. Liu, Phase-variable model of PM synchronous machines for integrated motor drives, IEE Proceedings-Science, Measurement and Technology, 2004, 151(6) 423-429.

DOI: 10.1049/ip-smt:20041096

[7] M. Tomi, N. Kelervo and H. Rauno, A 3D model based control of an excavator, Automation in Construction, 2006, 15(5): 571-577.