漂浮基空间机械臂基于速度滤波器的鲁棒控制  

Robust Control Based on Velocity Filter of Free-Floating Space Manipulator

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350002

出　　处：《系统仿真学报》2011年第2期367-371,389,共6页Journal of System Simulation

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

摘　　要：讨论了载体位置不受控、姿态受控情况下,自由漂浮空间机械臂基于速度滤波器的姿态、关节协调运动鲁棒跟踪控制问题。系统动力学分析的结果表明,结合系统总质心定义得到的系统动力学方程为系统惯性参数的线性函数,而由动力学方程得到的控制方程系数也可以表示为一组适当选择的惯性参数的线性函数。以此为基础,针对末端抓取载荷未知及仅有精确姿态、关节位置反馈的情况下,利用速度滤波器生成关节空间的伪速度,设计了基于伪速度的关节轨迹鲁棒跟踪控制方案。该控制方案的显著优点为不需要测量、反馈漂浮基的位置、移动速度、移动加速度和载体姿态及各关节铰的转动速度、转动加速度。系统的数值仿真,证实了方法的有效性。The robust control based on velocity filter was designed for free-floating space manipulator with unknown payload parameters.The kinematics and dynamics of the space manipulator system were analyzed,and it is shown that the dynamic equation of the system can be linearly dependent on a group of selected inertial parameters.Based on the results and considering the uncertain payload,the velocity filter was introduced to build a pesudo-velocity signal considered of only accurate joint position feedback,and the filter gain was designed through the backstepping compensation.Finally,the robust control based on the velocity filter of space manipulator to track the desired trajectory was proposed.In particular,it doesn＇t require measuring the position,velocity nor acceleration of the base.The numerical simulation is carried out,which confirms the controller proposed is feasible and effective.

关 键 词：漂浮基空间机械臂 速度滤波器 鲁棒控制 协调运动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]