对称并联运动机构的无模型交叉耦合控制

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关键词：对称并联运动机构；无模型控制器；协同控制；时延估计；轨迹跟踪中图分类号：TH112；TP273DOI：10.3969/j.issn.1004-132X.2025.08.005 开放科学（资源服务）标识码（OSID）：

Abstract： The dynamic coupling effectiveness between the driving joints of parallel mechanisms was a key challenge aecting their trajectory tracking performance.Existing multi-motor cooperative control methods for parallel platforms often ignored the inter-joint coupling relationships and their coordination， which affected the motion accuracy of the end-effctor. To address this issue，a model-free cross-coupling control method was proposed to improve the tracking accuracy of the mechanisms in the task space.By introducing the motor cooperative erros that represented the relationship between the motions of neighboring motors，the method employed the TDE technique to indirectly perform the closed-loop control of the mechanism dynamics，solving the uncertainty problems of the dynamics model. Additionally，the stability of the proposed method was analyzed and proven using the Lyapunov theorem，and experimental validations were performed on a symmetric parallel kinematic mechanism. The results show that，compared to the existing TDC method，the proposed method may effctively reduce the end-effector’s motion tracking erors through efficient position tracking and stable operations of the parallel mechanisms.

Key words：symmetric parallel kinematic mechanism；model-free controller；cooperative control; time delay estimation（TDE）；trajectory tracking

0 引言

在多轴并联平台的结构中，通过驱动关节的协调操作可实现动平台的精密运动控制[。（剩余13994字）