On Control System of the Cable-Supporting Parallel Mechanism Including Actuator Dynamics

Author

Zi, Bin ; Zhu, Zhen-cai ; Wei, Ming-sheng

Author_Institution

Sch. of Mech. & Electr. Eng., China Univ. of Min. & Technol., Xuzhou

fYear

2009

fDate

23-24 May 2009

Firstpage

1

Lastpage

5

Abstract

This paper is concerned with control system of cable- supporting parallel mechanisms (CPM) including actuator dynamics. Firstly, the dynamic formulation of the CPM with actuator dynamics was established. Secondly, considering the inherent characteristics of nonlinearity, slow time-variant, and multivariable coupled system, a decentralized control approach is proposed, and a fuzzy control plus proportional-integral control method, which can enhance the control performance for steady state errors, is, then, utilized to realize the trajectory tracking of the end-effector. Finally, the system is simulated with expected signal input via the controller based on the established dynamic equation. The results show that the control system achieves a better tracking performance and the control system has strong robustness.

Keywords

PI control; actuators; decentralised control; end effectors; fuzzy control; manipulator dynamics; multivariable control systems; robust control; actuator dynamics; cable-supporting parallel mechanism; decentralized control approach; dynamic equation; end-effector; fuzzy control; multivariable coupled system; proportional-integral control method; steady state errors; trajectory tracking; Actuators; Control systems; Couplings; Distributed control; Fuzzy control; Nonlinear control systems; Nonlinear dynamical systems; Pi control; Proportional control; Steady-state;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems and Applications, 2009. ISA 2009. International Workshop on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-3893-8

Electronic_ISBN

978-1-4244-3894-5

Type

conf

DOI

10.1109/IWISA.2009.5072982

Filename

5072982