飘浮基柔性关节、柔性臂空间机器人的鲁棒控制仿真  

Robust Coordinated Motion Control of Free-floating Space Robot with Flexible-link and Flexible-joints

作　　者：于潇雁[1] 陈力[1] 

机构地区：[1]福州大学机械工程及自动化学院,福州350116

出　　处：《系统仿真学报》2015年第12期3025-3031,共7页Journal of System Simulation

基　　金：国家自然科学基金(11372073)

摘　　要：讨论了载体位置无控、姿态受控的飘浮基柔性关节、柔性臂空间机器人的鲁棒控制与振动分级抑制问题。利用拉格朗日方程与动量守恒原理得到系统的动力学方程。利用奇异摄动法,将柔性空间机器人系统分解为一个慢变子系统与2个快变子系统;提出了一个由鲁棒慢变控制项与2个快变控制项组成的复合控制器。该控制方案的显著优点为:不需要测量、反馈载体的位置、移动速度、移动加速度。系统的数值仿真,证实了该方法的有效性。Robust coordinated motion control and vibration hierarchical suppression of a free-floating space robot with one flexible link and two elastic revolute joints was proposed. The dynamical Lagrange equation was established by the momentum conservation. A singularly perturbed model was formulated, which consists of a slow subsystem and two fast subsystems. Based on the singularly perturbed model, a reduced-order controller was proposed, which consists of a robust slow control component and two fast control components. The virtue of this control scheme is that the linear position, linear velocity, linear acceleration of the base needn't be measured directly. Numerical simulation demonstrates the proposed control algorithm's efficiency.

关 键 词：飘浮基柔性空间机器人 奇异摄动法 鲁棒控制 振动分级抑制 柔性臂 柔性关节 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]