力矩受限双臂空间机器人轨迹跟踪与控制  

Tracking Control for Dual-Arm Space Robot under the Conditions of the Limited Torque

作　　者：时存[1] 古思勇[2] 王莹 SHI Cun;GU Si-yong;WANG Ying(Zhengzhou Electric Power College,Henan Zhengzhou450000,China;Xiamen University of Technology,Fujian Xiamen361000,China)

机构地区：[1]郑州电力高等专科学校,河南郑州450000 [2]厦门理工学院,福建厦门361000

出　　处：《机械设计与制造》2020年第11期275-278,283,共5页Machinery Design & Manufacture

基　　金：2019年度河南省教育厅重点研发与推广专项项目(编号:192102210305)。

摘　　要：实际工程中自由漂浮双臂空间机器人的关节控制输入力矩幅值受限条件会导致常用控制方法失效,针对此条件下的轨迹跟踪控制问题,提出了一种基于状态依赖Riccati方程的优化控制方法。首先,借助增广变量法,将双臂空间机器人系统动力学方程扩展描述成以各关节角度和角速度为状态变量的伪线性表达形式,获得SDC(State-dependent Coefficient)矩阵;其次,基于状态依赖Riccati方程,选取一组合适的权值矩阵,设计优化跟踪控制器;然后,在控制器中加入饱和约束,以解决实际应用过程中关节控制器输入力矩幅值受限的问题;SDRE稳定性引理保证了所设计控制器的渐进稳定性;数值仿真结果验证所提控制方法的有效性。It will invalidate routine approaches because of the bounded torque inputs of dual-arm space robot in practical engineering.Considering the trajectory tracking problem under the above condition,an optimized control method is proposed based on State-Dependent-Riccati Equation(SDRE).Firstly,with the idea of an augmentation approach,the dynamic equations of dual-arm space robot system can be described as pseudo linear form by using angle and angular velocity as state variables,thus,the State-dependent Coefficient matrixs are acquired.And then,based on State-Dependent-Riccati Equation(SDRE),an optimizated controller is designed by choosing a set of suitable weighting matrix.Furthermore,the saturation constraint is added into the controller to solve the problem caused by bounded torque inputs of each joints.The asymptotic stability of the system is guaranteed by the stability lemma of SDRE.A simulation result verifies the validity of the proposed control method.

关 键 词：双臂空间机器人 力矩幅值受限 状态依赖Riccati方程 增广变量法 优化跟踪控制器 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]