Considering a simplified model of cables is an essential assumption in the design of state-estimator and vibration control of cable-driven parallel robots (CDPRs). Such an assumption however, impacts the effectiveness of controllers and state-estimators in such systems. This article presents a reaction-based stabilizer for nonmodel-based vibration control of CDPRs to address such model dependence. It is proved analytically that by using only three actuators and not involving the cable-connected winches, the proposed stabilizer regulates all undesired vibrations of the platform. It is also shown that the proposed stabilizer needs only the directly measurable position and velocity of its actuators to form its closed-loop control feedback signals. Effectiveness of the proposed system is more significant in CDPRs with considerable nonlinear effects of cables, where such effects are computationally costly to model, such that the performance of real-time controllers and state-estimators are spoiled. To provide a case study, a multibody nonlinear dynamic model of a suspended CDPR equipped-with the proposed stabilizer with zero cable damping effects is developed in SimMechanics/ MATLAB , where a fine-tuned proportional-derivative controller is applied on each actuator to suppress all vibrations of the system. In addition, a suspended CDPR with extremely stretchable nonlinear-stiffness elastomer cables is fabricated and tested, where performance of the proposed stabilizer to suppress the high-amplitude nonlinear oscillations of the whole system is demonstrated.

中文翻译：

---

电缆驱动并联机器人基于非模型振动控制的基于反应的稳定器

考虑电缆的简化模型是电缆驱动并行机器人（CDPR）的状态估计器和振动控制设计中的基本假设。但是，这种假设会影响此类系统中控制器和状态估计器的有效性。本文提出了一种基于反应的稳定剂，用于CDPR的非基于模型的振动控制，以解决此类模型依赖性。通过分析证明，通过仅使用三个执行器而不涉及电缆连接的绞车，所提出的稳定器可以调节平台的所有不希望的振动。还表明，所提出的稳定器仅需要其致动器的直接可测量的位置和速度即可形成其闭环控制反馈信号。在具有相当大的非线性效应的电缆的CDPR中，所提出的系统的有效性更为显着，因为这种效应在模型上的计算成本很高，从而破坏了实时控制器和状态估计器的性能。为了提供案例研究，在SimMechanics / 的MATLAB ，其中微调比例微分控制器应用于每个执行器，以抑制系统的所有振动。此外，制造并测试了具有极佳可拉伸非线性刚度弹性体电缆的悬挂式CDPR，并在其中证明了所提出的稳定器抑制整个系统的高振幅非线性振荡的性能。