不同重力条件下含铰间间隙空间机械臂PD~μ-SMC轨迹跟踪控制  

PD~μ-SMC trajectory tracking control of space manipulators with joint clearance under different gravity conditions

作　　者：刘福才[1] 夏威[1] 秦利[1] 侯甜甜[1,2] 郭宇[1] Liu Fucai Xia Wei Qin Li Hou Tiantian Guo Yu(Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004 Haibin College Electronic Information and Control Engineering, Beijing Jiaotong University, Cangzhou 061100)

机构地区：[1]燕山大学西校区工业计算机控制工程河北省重点实验室,秦皇岛066004 [2]北京交通大学海滨学院电子信息与控制工程系,沧州061100

出　　处：《高技术通讯》2017年第4期342-350,共9页Chinese High Technology Letters

基　　金：863计划(2013AA***);国家自然科学基金(51605415);河北省自然科学基金(F2015203362;F2016203494)资助项目

摘　　要：研究了重力对含铰间间隙空间机械臂的轨迹跟踪控制的影响。针对空间机械臂在安装、调试阶段处于地面重力环境,在应用过程中处于空间微重力环境,重力环境的改变会使得在地面设计、装配、调试好的控制器在空间应用时达不到良好的控制精度和效果的问题,设计了不需被控对象模型的分数阶PD滑模控制器(PDμ-SMC)对含铰间间隙空间机械臂进行控制,并基于李亚普诺夫理论证明了渐近稳定性。仿真结果表明该控制策略能有效地抑制外部干扰,实现含铰间间隙空间机械臂在不同重力环境及存在外部扰动情况下仍然能对期望轨迹进行准确快速跟踪。The influence of gravity on the trajectory tracking control of a space manipulator with joint clearance was studied. Considering that the assembly and debugging of a manipulator is conducted under the ground gravity, while in space application it is influenced by the micro-gravity, so a manipulator well designed, assembled and debugged on the ground fails to achieve the expected control precision and effect in its space application, the study designed a fractional order PD sliding mode controller （PDμ-SMC） without a need of controlled subject model for control of a space manipulator with joint clearance. Based on the Lyapunov theory, the asymptotic stability of the closed-loop system was proved. The simulation results show that the control strategy can effectively suppress the external disturbance and successfully realize the fast and accurate tracking of the expected trajectory toward the space manipulator with joint clearance under different gravity conditions and external disturbance.

关 键 词：空间机械臂 不同重力条件 铰间间隙 分数阶 滑模控制器(SMC) 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]