柔性空间机械臂的模糊控制及抑振最优控制  

Fuzzy Control and Vibration Suppression Optimal Control for Space Flexible Manipulator

作　　者：黄登峰[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：《系统仿真学报》2012年第12期2530-2534,共5页Journal of System Simulation

基　　金：国家自然科学基金(11072061;10672040);福建省自然科学基金项目(2010J01003)

摘　　要：讨论了载体位置不受控、姿态受控的情况下,漂浮基柔性空间机械臂系统的轨迹跟踪和振动抑制问题。对系统进行输入输出反馈线性化,并采用奇异摄动理论,得到了慢变子系统和快变子系统。然后,设计了两种时间尺度的模糊逻辑控制器,以控制柔性空间机械臂的载体姿态和机械臂关节铰协调地来完成各自在关节空间的期望运动。慢变子系统用模糊控制来进行轨迹跟踪,而快变子系统用最优线性二次型控制来主动抑制柔性杆的振动。系统仿真结果说明了控制器的可靠性和有效性。The trajectory tracking and vibration suppression control of free-floating space flexible manipulator system with an attitude controlled base were discussed. After feedback linearization, the slow and fast subsystems were obtained by using singular perturbation theory. Then, a two-time scale fuzzy logic controller for coordinated motion between the base＇s attitude and the manipulator＇s joints of space flexible manipulator system was designed. The slow-subsystem fuzzy logic controller dominated the trajectory tracking of coordinated motion. The fast-subsystem controller damped out the vibration of the flexible link by optimal linear quadratic regulator （LQR） method. Numerical simulation results illustrate that the proposed controller is reliable and effective.

关 键 词：漂浮基柔性空间机械臂系统 反馈线性化 奇异摄动法 模糊逻辑控制 最优控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]