漂浮基柔性空间机械臂基于奇异摄动法的模糊控制和柔性振动主动控制  

Active Vibration Control and Fuzzy Control of Free-floating Space Flexible Manipulator Based on Singular Perturbation Theory

作　　者：洪昭斌[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350108

出　　处：《机械工程学报》2010年第7期35-41,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(10372022;10672040);福建省自然科学基金(E0410008)资助项目

摘　　要：讨论在载体位置不受控、姿态受控情况下,自由漂浮柔性空间机械臂载体姿态与关节轨迹跟踪的模糊控制及柔性振动主动控制问题。利用拉格朗日假设模态法并结合系统动量守恒关系,建立柔性空间机械臂系统的动力学方程。以此为基础,使用奇异摄动法和两种时间尺度的假设,将系统分解为轨迹跟踪控制和振动控制可分开设计的奇异摄动系统。对于快变子系统,设计PD控制器来对柔性杆件的振动进行主动抑制;同时,设计解耦的模糊逻辑控制器来保证慢变子系统载体姿态及关节轨迹的跟踪。由于在系统动力学方程的推导中消去柔性空间机械臂载体位置项,该模糊控制器还同时具有不需要测量反馈载体位置、移动速度、移动加速度项的优点。最后的数值仿真结果证实了所设计控制器的有效性。The active vibration control and fuzzy control of free-floating flexible space manipulator with an attitude-controlled base are discussed. Associating the momentum conservation, the dynamic equations of the system are developed by using the Lagrange-assumed mode method. Based on the results and under the assumption of two kinds of time scale, singular perturbation model of the space flexible manipulator system is obtained. The fast-subsystem controller will damp down the vibration of the flexible link by using a PD controller. Hence, the slow-subsystem fuzzy logic controller dominates the trajectory tracking. In particular, it doesn＇t require measuring the position, velocity nor acceleration of the base because of an effective exploitation of the particular property of the system dynamics. The numerical simulation is carried out, which confirms the effectiveness of the designed controller.

关 键 词：漂浮基柔性空间机械臂 模糊控制 振动主动控制 关节空间 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]