漂浮基弹性基座空间机械臂的鲁棒控制  

Robust Control of Free-Floating Space Manipulator with Elastic Base

作　　者：元波[1] 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：《力学季刊》2014年第4期687-693,共7页Chinese Quarterly of Mechanics

基　　金：国家自然科学基金(11372073;11072061);福建省自然科学基金(2010J01003)

摘　　要：讨论了基座存在弹性情况下,载体位置不受控、姿态受控的漂浮基空间机械臂系统关节空间控制问题.利用拉格朗日方法结合动量守恒定律建立了弹性基座漂浮基空间机械臂系统动力学方程,空间机械臂工作环境的特殊性使得理论数学模型和实际模型存在一定的模型误差,同时考虑到外部干扰,本文对理论模型进行了改进.基于李雅普诺夫稳定性理论,为具有模型误差和外部干扰的弹性基座空间机械臂设计了合理的鲁棒控制方案,并且进行了稳定性证明.由于建模过程结合了动量守恒定律,所以所设计的控制方案无需测量载体位置、移动速度和移动加速度.数值仿真结果证实了本文提出的控制方法的有效性和可行性.The control of free floating space-based manipulator with elastic base was discussed in this paper. The Lagrangian method and the momentum conservation were adopted in building the dynamic equations. The model error and external disturbance were the result of special working environment. Improved dynamic model was developed and robust control for elastic-base free-floating space manipulator was designed based on the Lyapunov method. The proposed control method didn＇t need the information of the base position, movement speed and acceleration. The simulation results show that the proposed control scheme is feasible and effective.

关 键 词：漂浮基空间机械臂 基座弹性影响 模型误差 外部干扰 鲁棒控制 李雅普诺夫稳定性 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]