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- W2393671092 abstract "Based on the working characteristic of a cable-driven parallel manipulator (CPM),the motion control method was studied. Taking the model uncertainties and external disturbances of the CPM into account,the control strategy of the flexible system was discussed. In addition,considering the characteristics of nonlinearity,slow time-varying,and multivariable coupling of the system,a discrete-time control method combining PI control with fuzzy logic control(Fuzzy-PI),which could enhance the control performance for steady state errors,was developed for more effective and robust performance. The scheme with proportional-integral-tuning unit,which optimized the control rules by adjusting factors,was utilized to carry out the trajectory tracking of the object. Numerical results showed the tracking errors in X,Y,and Z directions with Fuzzy-PI,conventional fuzzy logic controller,and discrete-time nonlinear PID control arithmetic were in the range of ±10cm,±7cm,±3cm,±15cm,±8cm,±5cm,and ±15cm,±9cm,±4cm,respectively,in the presence of external disturbances." @default.
- W2393671092 created "2016-06-24" @default.
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- W2393671092 date "2009-01-01" @default.
- W2393671092 modified "2023-09-26" @default.
- W2393671092 title "Motion control of a cable-driven parallel manipulator" @default.
- W2393671092 hasPublicationYear "2009" @default.
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