{"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":"13 1","pages":""},"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\":\"13 1\",\"pages\":\"\"},\"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}
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.
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.
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