六自由度缆索驱动船舶运动模拟器张力优化

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI:10.1145/3475851.3475854

Jo-Won Jang, Thomas R. Bewley

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引用次数: 3

摘要

6自由度缆索驱动的船只运动模拟器有8根缆索和一个移动平台来复制船只运动。该平台与电缆相连，通过调整电缆的长度来移动。该模拟器有更多的电缆，其自由度被定义为欠定系统，这意味着张力解不是唯一的，可以在控制平台到期望位置的同时进行优化。利用张拉整体系统的平衡条件和动力学方程，导出了运动平台的线性化运动方程。基于线性矩阵不等式(LMI)的控制器设计和凸优化验证了系统的稳定性和索张力的优化。提出了一个仿真模型来验证优化后的索张力解和基于LMI控制器的可行性。

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Tension optimization of the 6-DOF cable-driven boat motion simulator

The 6 degrees of freedom cable-driven boat motion simulator has eight cables and a moving platform in replicating the boat motion. The platform is connected to cables and is moved by adjusting the length of the cables. The simulator has more cables than its degrees of freedom is defined as an underdetermined system, which means the tension solution is not unique and can be optimized while controlling the platform to the desired position. Leveraging the equilibrium condition and the dynamic equation of tensegrity systems, linearized equations of motion of the moving platform were derived. A Linear Matrix Inequality (LMI)-based controller design and a convex optimization validated to stabilizing the system and optimizing cable tensions. A simulation model is suggested to verify optimized cable tension solutions and the feasibility of the LMI based controller.

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来源期刊

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE)

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