柔性绳索并联驱动机构控制系统设计+程序代码
摘要伴随着科技的发展，许多学者都对柔索并联驱动机构的模型进行了研究分析论证，很多与此相关的产品也相继问世。在此大趋势下，本文针对某被动防护系统对平台姿态的控制要求，设计了一种新型的柔索并联驱动机构，并为机构设计了一款控制系统。
在该系统中我们建立了基准坐标系和动坐标系，在上述坐标系下分别用球坐标角和欧拉角表示动平台的姿态，并给出两种姿态表示的转换关系。分析该机构的运动反解模型，建立关于柔索伸缩量的PID控制模型。通过电机转动的角度改变绳索的长度，根据建立的模型与控制要求设计控制系统的软件。最后通过实验和仿真验证：该控制系统各个模块工作稳定、高效，控制模型正确、有效，达到控制要求，实现了预期的功能，但仍有诸多不足，在性能上需要改进和提高。
关键词 柔索 并联驱动 机构 运动反解
毕业论文设计说明书外文摘要
Title The control system design of Cable-Driven Parallel Manipulator
Abstract
With the development of science and technology, many scholars have made a research on the model of Cable-Driven Mechanism,and many related to this products have also come out.To meet certain control requirements of the platform attitude of a passive protection system,this paper proposes a novel Cable-Driven
parallel manipulator and designs a control system for the Mechanism.
In this system,We establishes two coordinate system ,one is fixed on the static platform and the other one fixed on moving platform.Uses spherical coordinates and Euler angles to indicate the attitudes of the moving platform respectively,and then gives the transformational relationship between them. This method builds on the PID control model of cable length by analyzing inverse kinematic solution, and changes the length of the rope on the basis of the motor rotational angle. After that,We designed the software of the control system according to the established model and the control requirements. Finally, a series of experiments and simulations verify that: Each module of the control system is stable, and the control model is also correct. The design meets the control requirements and realize the expected function.But there
are still many deficiencies,the performance needs to improve.
Keywords cable parallel drive mechanism reverse solution method
目 次
1 绪论 1
1.1 柔索并联驱动机构的研究背景 1
1.3 本文主要工作及章节安排 4
2 柔索并联机构系统的机构设计及运动学分析 5
2.1 引言 5
2.2 四柔索并联驱动机构 5
2.3 其他不同柔索数目机构介绍 6
2.4 柔索并联机构运动学分析 7
2.5 本章小结 12
3 基于柔性并联机构控制系统设计 13
3.1 引言 13
3.2控制系统硬件设计 13
3.3 控制系统软件设计 19
3.4 本章小结