针对并联柔索驱动机器人力场模拟应用场景下驱动单元的力伺服控制系统设计,基于Links半物理仿真环境,运用Matlab System Identification工具箱,对柔索驱动单元系统数学模型进行模型辨识,并对系统的不确定性进行辨识.结果表明,考虑柔索驱动单元的不确定性因素后实际系统模型与理论模型相吻合,且系统理论模型具有较高的可靠性.在可靠的理论模型基础上,对柔索驱动单元进行控制器设计,并验证了模型辨识方法的有效性.基于模型辨识的控制器设计方法可以推广到其他类型系统的模型辨识.
Model Identification and Controller Design of the Cable-driven Unit
For the design of the force servo control system of the drive unit in the force field simulation application scenario of the parallel cable driven robot,a mathematical model of the system is established,and the accuracy of the mathematical model is verified.Based on links of semi-physical simulation environment,using Matlab System Identification toolbox,the mathematical model of the cable drive unit system is verified,and the uncertainty of the system is identified.The results show that considering the uncertainties of the cable drive unit,the actual system model is consistent with the theoretical model,and the theoretical model of the system has high reliability.Based on the reliable theoretical model,the controller of the cable drive unit is designed,and the effectiveness of the model identification method is proved.The controller design method based on model identification can be extended to other types of systems.
model identificationforce servo systemsemi-physical simulationcable-driven unit
万方数据
维普
