Adaptive Feedback Tracking Control for Vibration Suppression of a Cable-Driven Parallel Hoisting Robot Under Compound Motion

摘要

The high nonlinearity and underactuated characteristics of the cable-driven parallel hoisting robot (CDPHR) make vibration suppression control under compound motion a challenging problem. Meanwhile, in practical applications, the speed feedback values required for controlling CDPHR usually need to be measured by indirect methods, which introduces errors into precise control. In addition, the problem of the single-period transmission blank of the swing angle data existing in practical applications affects the vibration suppression performance of the controller. To address these problems, an adaptive feedback tracking control method is proposed in this article. A virtual equivalent system composed of springs, dampers, and mass blocks is designed to replace the speed feedback parameter, enabling precise positioning of the rotation and payload lifting motions for CDPHR, while achieving rapid suppression of payload swing and online identification of mass. Further, a data transmission method based on the experimental platform is designed, which ingeniously uses timestamps to achieve real-time synchronization of sensor and encoder data. Finally, the effectiveness and superior of the control method are verified through experiments on a self-built experiment platform.