柔性关节和柔性臂空间机器人的L_2增益鲁棒控制  

L_2-gain Robust Control for Flexible Joints and Flexible Link Space Robot

作　　者：张丽娇[1,2] 陈力 Zhang Lijiao;Chen Li(School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China;Collaborative Innovation Center of High End Equipment Manufacturing, Fuzhou 350116, China)

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》2018年第4期1448-1455,共8页Journal of System Simulation

基　　金：国家自然科学基金(11372073;11072061);福建省工业机器人基础部件技术重大研发平台(2014H21010011)

摘　　要：讨论了臂杆与关节均具有柔性的漂浮基空间机器人运动及其关节、臂双重振动的控制问题,利用系统动量守恒关系和拉格朗日法得到系统动力学模型。采用积分流的思想对系统动力学模型进行奇异摄动分解,将其分解为:通过设计速度差值反馈控制来抑制关节柔性振动的快变子系统,通过设计线性二次最优控制来抑制臂杆柔性振动的快变子系统,描述空间机器人关节刚性运动且使得外部干扰对系统性能输出具有L_2增益鲁棒控制的慢变子系统,以避开直接求解HJI(Hamilton-Jacobi Inequality)不等式计算量大的困难。通过系统数值仿真,表明该算法有效。The trajectory tracking and the double flexible vibration active suppression control for free-floating space robot with flexible-joints and flexible-link were proposed. The dynamic equation of the system was established according to system＇s momentum conservation and Lagrange method. A singular perturbation model was established by integral manifold method, and the system was decomposed into a fast subsystem of flexible-joint which used the speed difference between the feedbacks of control law to suppress the elastic vibration of flexible-joints, a fast subsystemof flexible-link which designed optimal linear quadratic regulator （LQR） to damp out the vibration of the flexible manipulator and a slow subsystemwhich designed a robust controller to make the external disturbances have the performance of the LE-gain of the system, that avoids to directly solve the HJI （Inequality Hamilton-Jacobi） inequality of large calculation. Numerical simulation results show that the proposed control algorithm is effective.

关 键 词：外部扰动 漂浮基 柔性关节、柔性臂空间机器人 L2增益鲁棒控制 双重振动分级主动抑制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]