改善空间机械手控制器模型跟踪能力的RLS算法  

An RLS Algorithm to Improve the Tracking Capability of the Robot Controller for Space Manipulator

作　　者：高强[1] 王晨光[1] 董超[1] 

机构地区：[1]天津理工大学自动化学院,天津市复杂系统控制理论及应用重点实验室,天津300384

出　　处：《实验室研究与探索》2012年第8期13-16,31,共5页Research and Exploration In Laboratory

基　　金：天津市市级教学团队自动化专业教学团队项目(20100415)

摘　　要：针对空间机械手系统自身的特点,在系统辨识的基础上提出了一种改善机械手跟踪能力的RLS算法。此算法采用可变遗忘因子RLS算法与自扰动RLS算法相结合,实现了在不同的工作状态和负载发生变化时,可实时进行调整,为控制器提供准确的数学模型,达到精确的控制目的。该算法具有较快的收敛速度和跟踪速度以及较小的稳态误差,从而改进了空间机械手的动态品质,缩短了响应时间,提高了控制精度。This paper proposes an RLS algorithm which improves the tracking capability of the manipulator based on system identification in view of the characteristics of the space manipulator system. This algorithm combines variable forgetting factor RLS algorithm with the RLS algorithms. As a result, when the working conditions are different and load changes, the space manipulator can be adjusted in real time to provide an accurate mathematical model of the controller to achieve precise control purposes. Having fast convergence speed, fast tracking speed, and smaller steady-state error, this algorithm can improve the dynamic quality of space manipulator, shorten the response time and increase the control precision.

关 键 词：空间机械手 系统辨识 可变遗忘因子 参数识别 数学模型 

分 类 号：TH122[机械工程—机械设计及理论]