NN-PID Adaptive Control for 6_PUS Parallel Mechanism

Abstract

6_PUS parallel mechanism is a new type manipulator which has two guide rails, along which six sliders connected with tie rods by hooke joints are driven by linear motor and then motion platform is driven by tie rods. In order to obtain precision loci of motion platform, linear motor should be controlled exactly. During the modeling of 6_PUS parallel mechanism, RBF NN is selected to approach the nonlinear of this manipulator, and neuron PID controller is used to regulate the controlled object. In this paper, regulating rules of the control system is introduced in detail, and the control efficiency is proved by experiments which show neuron adaptive PID controller can deal the nonlinear of 6_PUS parallel mechanism and get preferable control precision to ordinary PID controller.