漂浮基空间机械臂抗死区与摩擦的动态面控制  

Dynamic surface control of anti-dead-zone and friction of free-floating space manipulator

作　　者：黄小琴 陈力[2] Huang Xiaoqin;Chen Li(School of Mechanical Engineering and Automation;Collaborative Innovation Center of High End Equipment Manufacturing in Fujian, Fuzhou University, Fuzhou 350116, China)

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

出　　处：《华中科技大学学报（自然科学版）》2018年第4期74-79,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

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

摘　　要：针对存在关节力矩输出死区、摩擦与外部干扰的漂浮基空间机械臂系统,提出一种基于高斯模糊基的自适应动态面控制,使两关节铰能够跟踪期望运动轨迹.利用摩擦双观测器估计不可测的内部摩擦状态;设计动态面避免反演法带来的计算膨胀问题,简化计算;应用模糊逻辑函数逼近包含死区误差与外部干扰在内的动力学不确定项,并采用自适应律调整高斯基权值矩阵和LuGre摩擦参数.李雅普诺夫理论证明系统半全局最终一致有界.仿真结果为两关节铰的轨迹跟踪误差在仿真2 s之后均小于0.2°,表明控制方法有效.A dynamic surface control method was designed to track the desired trajectory of two joints based on gauss fuzzy system for the free-floating space manipulator system with joint torque output dead-zone, friction and external disturbance. The friction double observers were used to estimate the unmeasurable internal friction state. Dynamic surface control was designed to avoid calculation expansion caused by backstepping method and to simplify calculation. The fuzzy logic function was applied to approximate uncertainties terms of dynamic equation including the dead-zone errors and external disturbances. The Gauss weight matrix and LuGre friction parameters were adjusted by adaptive laws. The Lyapunov theory proves that the system is semi-globally uniformly ultimately bounded. The simulation results show that the trajectory tracking errors of two joints both are less than 0.2~ after 2 s, indicating that the control method is effective.

关 键 词：漂浮基空间机械臂 关节力矩输出死区 LuGre摩擦 动态面控制 模糊控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]