柔性关节空间机器人自适应模糊鲁棒H_∞控制  

Adaptive Fuzzy Robust H∞ Control of Flexible-joint Space Robot

作　　者：张丽娇[1,2] 陈力[1,2] 

机构地区：[1]福州大学机械工程及自动化学院,福州350108 [2]福建省高端装备制造协同创新中心,福州350116

出　　处：《系统仿真学报》2017年第6期1223-1228,共6页Journal of System Simulation

基　　金：国家自然科学基金(11372073;11072061)

摘　　要：为了解决参数未知情况下柔性关节空间机器人关节运动与关节柔性振动主动抑制的问题。引入一种关节柔性补偿器,以提高关节的等效刚度;之后,采用奇异摄动理论将系统分解为快、慢变子系统。为慢变子系统设计了自适应模糊H∞控制,用模糊逻辑系统逼近系统不确定项的同时,采用H∞鲁棒控制项来克服模糊逼近遗留的误差对输出跟踪误差的影响。为快变子系统采用速度差值反馈控制律来抑制关节柔性引起的系统弹性振动。仿真表明,所设计的控制算法能够精确、稳定地控制空间机器人的关节运动的同时,主动抑制关节柔性振动;证实了控制算法的有效性。In order to solve the problem of trajectory parameter unknown flexible-joints space robot system, tracking and vibration suppression control for a joint flexibility compensation controller was introduced to improve the equivalent stiffness of the joint; by using the singular perturbation method, the system was decomposed into a slow subsystem and a fast subsystem. For the slow subsystem, the adaptive fuzzy Hoo control algorithm was designed; by using the fuzzy logic system to approximate the system uncertainty, a robust Hoo control was used to eliminate the influence of the fuzzy approximation legacy of error to the output tracking error. For the fast subsystem, the speed difference between the feedback control law was used to suppress the elastic vibration of flexible joints which was caused by system. Numerical simulation results show that the proposed control algorithm can control the joint tracking of the space robot with flexible joints accurately and steadily, and suppress actively vibration of flexible joints, which proves the validity of the controller.

关 键 词：柔性关节空间机器人 关节柔性补偿器 自适应模糊 H∞鲁棒控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]