中文摘要：

提出了一种新型6-（P-2P—S）并联宏动平台，应用凯恩方法建立了该机构的刚体动力学模型。采用分散控制策略对各分支独立控制，建立了单通道驱动关节空间的CARIMA模型，并针对广义预测控制（GPC）计算量大的缺陷，提出了一种模糊自适应直接广义预测控制（FDGPC）方法，该方法利用模糊逻辑系统直接设计预测控制器，并基于广义误差估计值对控制器参数θM和广义误差估计值中的未知向量θe进行自适应调整，轨迹跟踪控制仿真结果验证了该方法具有很强的鲁棒性，可实现并联宏动平台的高速高精度定位。

英文摘要：

A novel 6- （P-2P-S） parallel macro manipulator is put forward. Based on the KANE method, the dynamic model is established. The decontralized control is used to control the branches independently. According to the CARIMA model of a driven joint space, a fuzzy adaptive direct generalized predictive control （FDGPC） method is proposed. The method is presented to overcome the high load of computing of traditional GPC. In this method, a fuzzy logic system is used to design predictive controller directly, and both the controller parameters θM and the unknown vectors θe in the estimation of generalized error are adjusted adaptively. The tracking control simulation results demonstrate the strong robustness of this method and the implementation of high-speed and high-precision positioning of the parallel macro manipulator.