Dynamic analysis and model-based feedforward control of a 2-DoF translational parallel manipulator driven by linear motors

摘要

Purpose - Based on the inverse kinematics and task space dynamic model, this paper aims to design a high-precision trajectory tracking controller for a 2-DoF translational parallel manipulator (TPM) driven by linear motors. Design/methodology/approach - The task space dynamic model of a 2-DoF TPM is derived using Lagrangian equation of the first type. A task space dynamic model-based feedforward controller (MFC) is designed, which is combined with a cascade PID/PI controller and velocity feedforward controller (VFC) to construct a hybrid PID/PI + VFC/MFC controller. The hybrid controller is implemented in MATLAB/dSPACE real-time control platform. Experiment results are given to validate the effectiveness and industrial applicability of the hybrid controller. Findings - The MFC can compensate for the nonlinear dynamic characteristics of a 2-DoF TPM and achieve better tracking performance than the conventional acceleration feedforward controller (AFC). Originality/value - The task space dynamic model-based hybrid PID/PI + VFC/MFC controller is proposed for a 2-DoF linear-motor-driven TPM, which reduces the tracking error by at least 15 percent compared with conventional hybrid PID/PI + VFC/AFC controller. This control scheme can be extended to high-speed and high-precision trajectory tracking control of other parallel manipulators by reprogramming the feedforward signals of traditional cascade PID/PI controller.