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�������պ����ѧѧ�� 2006, Vol. 32 Issue (08) :941-945    DOI:
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Ԭ����, ������, �Կ˶�, ����*
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Dynamic compensator control strategy of hydraulic parallel manipulator
Yuan Lipeng, Dong Yanliang, Zhao Keding, Xu Hongguang*
School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China

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Abstract�� The prototype of a hydraulic driven 6-DOF parallel manipulator used in fly model simulator was presented. Considering on the mathematical model of the system which has many uncertain effect factors such as disturbed force, friction force and uncertain parameter, the research on the closed loop dynamics model of the system was made. According to the dynamic compensation characteristics of the closed loop model of the system, six-dimension dynamic compensator was adopted. A real time control strategy which is composed by PD controller and wavelet neural network was put forward to make dynamic compensation. Experiment result shows that this method has characteristics of well tracing ability. And it can improve the response time, movement accuracy and resistance to load disturbance of the system. It also can overcome the effects which are produced by the dynamic coupling, real time varied parameters and unknown disturbance. This method presents a brand-new path for high performance of the parallel manipulator mechanism.
Keywords�� manipulator   wavelet   neural networks   dynamics     
Received 2005-09-05;


About author: Ԭ����(1976-), ��,��������������,��ʦ,hitylp@126.com.
Ԭ����, ������, �Կ˶�, ����.���ڶ���������Һѹ�����˶�ƽ̨���Ʋ���[J]  �������պ����ѧѧ��, 2006,V32(08): 941-945
Yuan Lipeng, Dong Yanliang, Zhao Keding, Xu Hongguang.Dynamic compensator control strategy of hydraulic parallel manipulator[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2006,V32(08): 941-945
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