柔性空间机械臂捕获卫星过程的鲁棒镇定与自适应抑振复合控制  

Composite Control of Robust Stabilization and Adaptive Vibration Suppression of Flexible Space Manipulator Capturing a Satellite

作　　者：董楸煌 陈力[1] 

机构地区：[1]福州大学机械工程及自动化学院,福建福州350108

出　　处：《机器人》2014年第3期342-348,共7页Robot

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

摘　　要：分析漂浮基柔性空间机械臂捕获运动卫星过程的碰撞动力学,及受碰撞冲击后的不稳定空间机械臂系统的控制.首先,利用假设模态法近似描述柔性杆的弹性变形,并结合第二类拉格朗日方程建立柔性空间机械臂多体系统动力学模型.而后,基于动量守恒原理,利用动量冲量法分析空间机械臂捕获卫星的碰撞动力学.针对受碰撞冲击后不稳定运动空间机械臂,设计鲁棒镇定与自适应抑振复合控制以维持空间机械臂与被捕获卫星组合体系统稳定.最后,数值仿真揭示了碰撞冲击影响效应,并验证了上述控制算法的有效性.The impact dynamics of a free-floating flexible space manipulator capturing a moving satellite, and unstable space manipulator control after impact are analyzed. Firstly, the elastic deformation of flexible link is described approxi-mately with assumed mode method, and a dynamic model of the flexible space manipulator multi-body system is derived by combining the second Lagrange equation. Based on the momentum conservation theory, the impact dynamics between the space manipulator and satellite is analyzed with momentum-impulse method. For the unstable space manipulator system after impact, a composite control of robust stabilization and adaptive vibration suppression is designed to stabilize the combined space manipulator and satellite system. Finally, the simulation results reveal the impact effect and validate the proposed control algorithm.

关 键 词：柔性空间机械臂 卫星捕获 碰撞动力学 鲁棒镇定控制 自适应抑振控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]