双柔性空间机械臂动力学建模与控制  

Dynamic Modeling and Control of Space Manipulator with Flexible Joints and Links

作　　者：杨永泰[1] 荣吉利[1] 李健[2] 刘宾[3] 胡成威[3] 

机构地区：[1]北京理工大学宇航学院,北京100081 [2]广西科技大学汽车与交通学院,广西柳州545006 [3]中国空间技术研究院,北京100094

出　　处：《兵工学报》2014年第7期1003-1008,共6页Acta Armamentarii

基　　金：国家自然科学基金项目(10972033);中国空间技术研究院创新基金项目(CAST20100141107)

摘　　要：大多数研究者在空间机械臂动力学建模时,只考虑了关节柔性或者臂杆柔性,并且通常采用假设模态法对臂杆的变形进行描述,但该方法仅适用于小变形情况。基于这种情况,采用自然坐标法对柔性关节进行建模和绝对节点坐标法对柔性臂杆进行建模,得到了既包含关节柔性又包含臂杆柔性的空间机械臂动力学方程,并能精确地描述臂杆的小变形以及大变形。利用5次多项式对关节轨迹进行规划,通过逆动力学得到关节的前馈驱动力矩;采用PID控制策略,作为反馈输入。在二连杆柔性关节柔性杆机械臂上进行数值仿真。仿真结果表明:该控制策略在实现关节轨迹跟踪控制的同时,也能有效减弱机械臂的振动。Only joint flexibility or link flexibility is considered in the dynamic modeling of the space ma- nipulator by most researchers, and the assumed mode method, only suitable for small deformation, is u- sually utilized to describe the flexible deformation of link. Both nature coordinate formulation （NCF） to model the flexible joint and absolute nodal coordinate formulation （ANCF） to model the flexible link are used to obtain the dynamic equations of the space manipulator, which include both joint flexibility and link flexibility and are able to precise developed by quintic polynomial func ly tio ics as feedforward. PID control scheme describe both small and large deformations. The joint trajectory is n and then the actuator torque is obtained by the inverse dynamused as feedback input. The two-link flexible manipulator is used to evaluate this method. Results show that the proposed control scheme is effective in both the tracking of joint trajectory and suppressing of vibration.

关 键 词：航空航天科学技术基础学科 空间机械臂 柔性关节 柔性杆 自然坐标法 绝对节点坐标法 轨迹跟踪 

分 类 号：O313.7[理学—一般力学与力学基础]