A modified similitude analysis method for the electro-mechanical performances of a parallel manipulator to solve the control period mismatch problem

作     者：WU Jun SONG YuYao LIU ZiLin LI GuoFa WU Jun;SONG YuYao;LIU ZiLin;&LI GuoFa

作者机构：State Key Laboratory of Tribology and Institute of Manufacturing EngineeringDepartment of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and ControlBeijing 100084China Key Laboratory of CNC Equipment ReliabilityMinistry of EducationJilin UniversityChangchun 130022China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2022年第65卷第3期

页      面：541-552页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the National Natural Science Foundation of China(Grant No.51975321) the Opening Project of the Key Laboratory of CNC Equipment Reliability,Ministry of Education,Jilin University(Grant No.202101) 

主　　题：similitude analysis control period mismatch parallel manipulator electro-mechanical performance discrete system 

摘      要：Due to the discrete feature and performance limitation of the numerical controller,the control period sometimes cannot meet the constraints of the scaled model in similitude analysis,which brings the control period mismatch *** traditional similitude analysis methods are not able to solve this problem since the controller is treated as continuous system in these *** paper proposes a modified similitude analysis method to solve the control period mismatch problem,and the electro-mechanical performances of a 2-DOF parallel manipulator is *** on the model of dynamic and control system,most of the similitude laws are derived by taking the controller as continuous *** the transfer function of the controller in discrete form is established,and the similitude law related to control period is derived to figure out the cause of mismatch *** modified method,named long period equivalent,is proposed to solve the mismatch problem by using the least square method and superposition ***,the scaled model of the parallel manipulator is determined based on the modified similitude analysis method.