طراحي كنترل كننده مود لغزشي و مود لغزشي تطبيقي براي ربات موازي شبيه سازهاي حركتي با محرك هاي دوراني

چكيده انگليسي :

Sliding and Adaptive Sliding Mode Controller Design for a Parallel Manipulator of Motion Simulators with Rotary Actuators Mohammad Jafarinasab m jafarinasab@yahoo com 5th April 2011 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree MSc Language Farsi Supervisor Mehdi Keshmiri mehdik@cc iut ac ir ABSTRACT This thesis in the analytical part deals with kinematic and dynamic analysis of a 6 DOF parallel manipulator of motion simulators with rotary actuators as well as control synthesis of moving platform via robust Sliding Mode Control SMC method In the experimental and practical part implementation of the SMC and PID controllers on a prototype of this kind has been carried out The manipulator is basically made up of a fixed base platform a moving platform six rotary links connected to the base platform and actuated by the electrical motors and finally six arms which are connected to the rotary links and moving platform through universal and spherical joints respectively Kinematic constraint equations are extracted in both algebraic and differential forms As a result the forward and inverse kinematics of the robot are solved The full nonlinear dynamic equations of the manipulator are derived using Lagrange s method for constrained systems After that using orthogonal complement of the constraint Jacobian matrix and eliminating the Lagrange multipliers dynamic equations are reduced to a set of six independent differential equations As an assumption flexibility and looseness of the joints as well as joint frictions are ignored in the modeling Due to the nonlinearities disturbances and uncertainties presenting in the system it is aimed to design some kind of controllers which have robustness properties and can deal with these issues Sliding Mode control method as a class of robust controllers against uncertainties and disturbances is employed to control the position of the robot in its task space Stability analysis of SMC is analyzed based on the Lyapunov approach It results in some inequalities which are stability conditions and should be satisfied Due to the fact that the independent equations of motion could not be extracted in a closed form the inequalities could not be analyzed analytically The independent equations which are derived numerically in each time step for simulation purposes are used for this analysis as well Hence to get close to the proof of stability these inequalities are studied numerically To examine the controller performance external disturbances are modeled as external forces act on the moving platform Also the mass and inertial parameters of the moving platform are considered as structural uncertainties while the mass center position of the moving platform in the vertical direction is considered as an unstructural uncertainty in the system Finally the controller performance is studied through several numerical simulations Based on the simulation results to improve the controller performance and decrease the tracking error of the system an Adaptive Sliding Mode Controller ASMC is designed and its performance is compared with SMC and CTM In order to implement the SMC on the prototype it is designed in joint space Finally the position of the robot is controlled via PID and sliding mode methods Keywords Parallel robot Motion simulator Rotary actuator Robust control Adaptive control Sliding mode Adaptive sliding mode

جعفري نسب، محمد

طراحي كنترل كننده مود لغزشي و مود لغزشي تطبيقي براي ربات موازي شبيه سازهاي حركتي با محرك هاي دوراني

روش لاگرانژ , كنترل مقاوم