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Implementation and intelligent gain tuning feedback–based optimal torque control of a rotary parallel robot
Journal of Vibration and Control ( IF 2.8 ) Pub Date : 2021-05-18 , DOI: 10.1177/10775463211019177
Farzam Tajdari 1 , Naeim Ebrahimi Toulkani 2
Affiliation  

Aiming at operating optimally minimizing error of tracking and designing control effort, this study presents a novel generalizable methodology of an optimal torque control for a 6-degree-of-freedom Stewart platform with rotary actuators. In the proposed approach, a linear quadratic integral regulator with the least sensitivity to controller parameter choices is designed, associated with an online artificial neural network gain tuning. The nonlinear system is implemented in ADAMS, and the controller is formulated in MATLAB to minimize the real-time tracking error robustly. To validate the controller performance, MATLAB and ADAMS are linked together and the performance of the controller on the simulated system is validated as real time. Practically, the Stewart robot is fabricated and the proposed controller is implemented. The method is assessed by simulation experiments, exhibiting the viability of the developed methodology and highlighting an improvement of 45% averagely, from the optimum and zero-error convergence points of view. Consequently, the experiment results allow demonstrating the robustness of the controller method, in the presence of the motor torque saturation, the uncertainties, and unknown disturbances such as intrinsic properties of the real test bed.



中文翻译:

旋转并联机器人的实现和基于智能增益调整反馈的最佳转矩控制

为了使跟踪和设计控制工作的误差最小化,本研究提出了一种新颖的可推广的方法,用于带有旋转执行器的6自由度Stewart平台的最优转矩控制。在提出的方法中,设计了对控制器参数选择敏感度最低的线性二次积分调节器,并与在线人工神经网络增益调整相关联。非线性系统是在ADAMS中实现的,而控制器是在MATLAB中制定的,以最大限度地减小实时跟踪误差。为了验证控制器性能,将MATLAB和ADAMS链接在一起,并在实时仿真系统上验证了控制器的性能。实际上,制造了Stewart机器人并实现了所提出的控制器。该方法通过仿真实验进行了评估,从最佳和零误差收敛的角度出发,展现了所开发方法的可行性并强调了平均改善45%。因此,实验结果可以证明在存在电动机转矩饱和,不确定性和未知干扰(例如真实测试台的固有特性)的情况下,控制器方法的鲁棒性。

更新日期:2021-05-19
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