柔性空间机械臂捕获卫星后梯度下降自校正控制  

Gradient Descent Self-tuning Control of Flexible Space Manipulator After Capturing Operation

作　　者：程靖[1,2] 陈力 Cheng Jing;Chen Li(School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China;Fujian Provincial 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,福建福州350116 [2]福建省高端装备制造协同创新中心,福建福州350116

出　　处：《系统仿真学报》2018年第5期1869-1876,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：全柔性空间机械臂捕获卫星后会产生柔性振动,同时导致系统处于不稳定状态。本文针对不稳定的混合体系统,提出了基于混合轨迹的自校正控制算法,以完成镇定运动控制。该方案利用梯度下降法思想,设计了参数的自适应律,实时调节PID控制器控制参数。根据李雅普诺夫函数,设计了监督控制器以保证控制系统的稳定性,使其具有H∞跟踪特性。之后,基于虚拟力概念生成混合轨迹,用于实现关节运动及柔性振动抑制的一体化控制。最后,通过数值仿真实验证明了上述控制方案的有效性。The flexible vibration is generated after all-flexible space manipulator capturing a satellite, and the collision leads to unsteadiness of system. For the unstable composite system, the self-turning control algorithm based on hybrid trajectory is designed in this paper. The theory of gradient descent is used for parameter adaptive rate design to realize the real time adjustment of the PID control parameters. A supervised controller is designed through Lyapunov function to generate the stability and H∞ tracking characteristic of the system. The hybrid trajectory is generated based on the concept of virtual force, which is used to accomplish integrated control of joint movement and vibration abatement. At last, the effectiveness of the proposed control scheme is demonstrated through numerical simulation.

关 键 词：全柔性空间机械臂 捕获操作 混合轨迹 自校正PID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]