变负载空间机械臂混沌运动分析与控制  

Chaotic motion analysis and control of space manipulators with variable loads

作　　者：刘福才[1] 闫莉莉 秦利[1] 徐智颖 LIU Fu-cai;YAN Li-li;QIN Li;XU Zhi-ying(School of Electrical Engineering, Yanshan University, Qinhuangdao 066004,China)

机构地区：[1]燕山大学电气工程学院

出　　处：《电机与控制学报》2019年第10期120-128,共9页Electric Machines and Control

基　　金：国家自然科学基金青年基金(51605415);河北省自然科学基金(F2016203494,F2019203505)

摘　　要：针对空间机械臂在轨服役时操作任务复杂多样且外部扰动随机等因素可能引起系统动力学特性和控制性能发生变化这一问题,研究了其负载不确定及外部扰动与重力释放的耦合影响引起的系统混沌运动,讨论了一种基于模糊幂次趋近律的快速滑模变结构控制方法。首先应用相图法、庞加莱映射法和最大李亚普诺夫指数法,分析系统在地面和空间两种环境的不同工况中,可能出现的混沌现象,及该情况下负载质量参数范围。通过对传统滑模面分析和比较,设计了一种快速非线性滑模面,根据模糊控制理论,设计模糊幂次趋近律,在实现混沌状态有效抑制的前提下,提高了系统的趋近运动速度。最后,通过与常规控制策略的对比仿真研究,验证了所提控制方案的有效性。Considering the complicated on-orbit operational tasks of space manipulators and external random disturbance factors which may cause the dynamic characteristics and the control performance of the system changed, the chaotic motion caused by the coupling effect of gravity release with the unknown operating load and random external disturbance of space manipulator system is studied. A fast sliding mode variable structure control method based on fuzzy power reaching law is proposed. Firstly, the phase diagram method, Poincaré mapping method and maximum Lyapunov exponent method were used to analyze the chaotic phenomena that may happen under the same controller parameters in different working conditions of the ground and space working environment, and the range of load mass parameters which may lead to chaotic motion was given. According to the analysis and comparison of the traditional sliding surface, a fast nonlinear sliding surface was designed, and the fuzzy power reaching law was given based on the fuzzy control theory, in which case, the designed controller can suppress the chaotic state effectively, and improve the convergence speed at the same time. Finally, simulation results show the validity of the proposed control scheme.

关 键 词：空间机械臂 重力效应 负载变化 混沌运动 滑模变结构控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] O322[自动化与计算机技术—控制科学与工程]