研究了基于绳牵引并联机构的新型波浪补偿系统的鲁棒控制方法。将环境作用力和不可测参数从动力学方程中分离出来，看作系统干扰，然后根据李亚普诺夫稳定性理论推导了控制律。针对绳索冗余的情况，提出了一种基于交互投影的绳索张力分布算法。当存在张力分布的可行解时，该算法能够得到远离张力限制边缘的“安全”最优解；当不存在可行解时，该算法能够得到满足张力限制条件的最佳近似解。为了提高鲁棒控制的实用性，还研究了负载惯性参数辨识方法。仿真结果表明，以上理论与方法对于波浪补偿系统是非常有效的。%A robust control method for new type wave compensation systems that based on cable-driven parallel mechanisms were presented. The environmental forces and immeasurable parameters were separated from the dynamic equations and treated as disturbances.Then a sliding mode control law was derived using Lyapunov stability theory.For redundant mechanisms,a tension distribution algorithm based on alternating projection was proposed.When feasible solutions exist,this algorithm leads to a "safe"optimum solution that is kept away from all the boundaries of the tension constraints.Even if no feasible solution exists,a best approximate solution will be got which satisfies the tension constraints.An identification method was also proposed to enhance the practicability of the robust control method.Simulation results show that the proposed theories and methods are effective for such wave compensation systems.
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