Abstract：Under-constrained cable-driven parallel suspension systems can be used to support wind tunnels for forced and free dynamics tests. This paper describes the motion characteristics of an under-constrained cable-driven parallel suspension system and a computed torque control method based on a nonlinear disturbance observer. An adaptive particle swarm optimization algorithm was used to solve the coupled equations for the kinematics and statics of the under-constrained system to determine the initial equilibrium state. A computed torque controller was designed based on the dynamics equations with a nonlinear disturbance observer used to compensate for the external interference. The system stability was proven by the Lyapunov function method. Then, the control system was used to control typical dynamic responses in wind tunnel tests, such as single degree-of-freedom (DOF) sinusoidal oscillations and two DOF motion. The results show that the control method effectively compensates for external disturbances with accurate tracking of the desired trajectory while always keeping the cables taut. The system can also simulate an aircraft model’s free motion in uncontrolled directions. Thus, this research describes how to use an under-constrained cable-driven parallel suspension system to improve wind tunnel tests.
王晓光, 吴军, 林麒. 欠约束绳牵引并联支撑系统运动学分析与鲁棒控制[J]. 清华大学学报（自然科学版）, 2021, 61(3): 193-201.
WANG Xiaoguang, WU Jun, LIN Qi. Kinematics analysis and control of under-constrained cable-driven parallel suspension systems. Journal of Tsinghua University(Science and Technology), 2021, 61(3): 193-201.
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