针对电缆断裂情况的滑动模式自适应比例-积分-派生控制的设计与性能研究

IF 1.9 3区工程技术 Q3 MECHANICS

Meccanica Pub Date : 2024-09-09 DOI:10.1007/s11012-024-01875-2

Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi

{"title":"针对电缆断裂情况的滑动模式自适应比例-积分-派生控制的设计与性能研究","authors":"Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi","doi":"10.1007/s11012-024-01875-2","DOIUrl":null,"url":null,"abstract":"<p>Controlling a cable-driven parallel robot (CDPR) when a cable breaks is challenging. In this paper, a sliding mode adaptive PID control is designed to ensure a safe guidance of the load when a cable fails. Indeed, regardless when a cable breaks, this control makes it possible enchanting the guidance of the load inside the remaining wrench feasible workspace. In other words, it allows reducing the load oscillation and then increasing the safety of the recovery manoeuvre. Performances are evaluated through simulations by considering a spatial CDPR and comparing the results with a PID control.</p>","PeriodicalId":695,"journal":{"name":"Meccanica","volume":null,"pages":null},"PeriodicalIF":1.9000,"publicationDate":"2024-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design and performance investigation of a sliding-mode adaptive proportional–integral–derivative control for cable-breakage scenario\",\"authors\":\"Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi\",\"doi\":\"10.1007/s11012-024-01875-2\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>Controlling a cable-driven parallel robot (CDPR) when a cable breaks is challenging. In this paper, a sliding mode adaptive PID control is designed to ensure a safe guidance of the load when a cable fails. Indeed, regardless when a cable breaks, this control makes it possible enchanting the guidance of the load inside the remaining wrench feasible workspace. In other words, it allows reducing the load oscillation and then increasing the safety of the recovery manoeuvre. Performances are evaluated through simulations by considering a spatial CDPR and comparing the results with a PID control.</p>\",\"PeriodicalId\":695,\"journal\":{\"name\":\"Meccanica\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.9000,\"publicationDate\":\"2024-09-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Meccanica\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1007/s11012-024-01875-2\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"MECHANICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Meccanica","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s11012-024-01875-2","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"MECHANICS","Score":null,"Total":0}

引用次数: 0

摘要

在电缆断裂时控制电缆驱动并联机器人（CDPR）是一项挑战。本文设计了一种滑动模式自适应 PID 控制，以确保电缆断裂时负载的安全引导。事实上，无论电缆何时断裂，该控制都能在剩余的扳手可行工作空间内引导负载。换句话说，它可以减少负载的摆动，从而提高恢复操作的安全性。通过考虑空间 CDPR 并将结果与 PID 控制进行比较，对性能进行了模拟评估。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Design and performance investigation of a sliding-mode adaptive proportional–integral–derivative control for cable-breakage scenario

查看原文本刊更多论文

Design and performance investigation of a sliding-mode adaptive proportional–integral–derivative control for cable-breakage scenario

Controlling a cable-driven parallel robot (CDPR) when a cable breaks is challenging. In this paper, a sliding mode adaptive PID control is designed to ensure a safe guidance of the load when a cable fails. Indeed, regardless when a cable breaks, this control makes it possible enchanting the guidance of the load inside the remaining wrench feasible workspace. In other words, it allows reducing the load oscillation and then increasing the safety of the recovery manoeuvre. Performances are evaluated through simulations by considering a spatial CDPR and comparing the results with a PID control.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Meccanica 物理-力学

CiteScore

4.70

自引率

3.70%

发文量

151

审稿时长

7 months

期刊介绍： Meccanica focuses on the methodological framework shared by mechanical scientists when addressing theoretical or applied problems. Original papers address various aspects of mechanical and mathematical modeling, of solution, as well as of analysis of system behavior. The journal explores fundamental and applications issues in established areas of mechanics research as well as in emerging fields; contemporary research on general mechanics, solid and structural mechanics, fluid mechanics, and mechanics of machines; interdisciplinary fields between mechanics and other mathematical and engineering sciences; interaction of mechanics with dynamical systems, advanced materials, control and computation; electromechanics; biomechanics. Articles include full length papers; topical overviews; brief notes; discussions and comments on published papers; book reviews; and an international calendar of conferences. Meccanica, the official journal of the Italian Association of Theoretical and Applied Mechanics, was established in 1966.