一种FFFSR轨迹跟踪及振动抑制的改进预测控制方法  

Improved predictive control method for the trajectory tracking and vibration suppression of a free-floating flexible space robot

作　　者：庞哲楠 张国良 羊帆 徐君 贾枭 

机构地区：[1]火箭军工程大学,西安710025 [2]宝鸡市高新技术研究所,陕西宝鸡721000

出　　处：《振动与冲击》2017年第21期99-106,共8页Journal of Vibration and Shock

基　　金：中国工程科技中长期发展战略研究项目(中国工程院与国家自然科学基金委联合资助)(2014-zcq-10)

摘　　要：讨论了动力学约束和有界扰动条件下,自由漂浮柔性空间机器人(FFFSR)关节轨迹跟踪控制与柔性振动抑制的问题。提出一种基于预测控制的优化控制器设计方法,分别设计了跟踪控制器和轨迹规划器。跟踪控制器采用广义预测控制方法,生成使机械臂快速稳定跟踪期望轨迹的优化控制律;改进常规获取期望轨迹的柔化控制方法,设计基于约束预测控制方法的轨迹规划器,综合考虑动力学约束与柔性振动抑制,实时为跟踪控制器生成由初始位置到目标位置的优化期望轨迹,确保机械臂快速稳定跟踪到目标位置,并有效抑制柔性振动。数值仿真结果验证了所设计控制策略的可行性与有效性。The combined use of trajectory tracking control and flexible vibration active suppression techniques for a free-floating flexible space robot（ FFFSR） was discussed under dynamic constrains and bounded disturbances. An optimized controller containing a tracking controller and a trajectory planner was proposed based on the model predictive control method. The tracking controller generates the optimal control rule for the robot arm to track the desired trajectory quickly and stably,adopting the generalized predictive control method. The conventional softening control method was improved to get the desired trajectory. The trajectory planner was designed based on the constrained predictive control method and an optimal desired trajectory was planned with consideration of the dynamic constrains and flexible vibration.In this way,the fast and stable tracking as well as the vibration suppression were achieved. The numerical simulation results demonstrate the feasibility and effectiveness of the proposed control strategy.

关 键 词：柔性空间机器人 广义预测控制 约束预测控制 振动抑制 动力学约束 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]