漂浮基空间机械臂的反演滑模容错控制  

A BACKSTEPPING SLIDING MODE FAULT-TOLERANT CONTROL FOR FREE FLOATING SPACE MANIPULATORS

作　　者：宋齐 王远彬 于潇雁[1,2] Song Qi;Wang Yuanbin;Yu Xiaoyan(School of Machine Engineer and Automation,Fuzhou University,Fuzhou 350116,China;Key Laboratory of Fluid Power and Electro-hydraulic Intelligent Control of Fujian Province,Fuzhou 350116,China)

机构地区：[1]福州大学机械工程及自动化学院,福州350116 [2]流体动力与电液智能控制福建省高校重点实验室,福州350116

出　　处：《动力学与控制学报》2021年第2期78-84,共7页Journal of Dynamics and Control

基　　金：国家自然科学基金资助项目(51741502);福建省工业机器人基础部件技术重大研发平台(2014H21010011)。

摘　　要：讨论了载体位置不受控制的情况下,漂浮基三杆空间机械臂系统的滑模容错控制问题.选择合适的坐标系,利用拉格朗日第二动力学方程,结合系统质心定义,根据系统动量守恒原理,建立漂浮基三杆空间机械臂系统的动力学方程.依据非奇异滑模控制和积分滑模控制理论提出切换函数,基于反演的控制策略,结合高阶滑模控制理论,提出了一个新型的控制率,实现了对空间械臂系统的稳定控制.该控制方法同时具有了高阶滑模控制、非奇异滑模控制和积分滑模控制的特性,抖震小、非奇异并且响应速率快.为了实现在故障函数、故障大小未知的状态下,依旧能够实现稳定控制,提出了一个新的自适应率,该自适应率提高了系统对故障的容错能力.最后通过MATLAB仿真验证了所提出的控制方法的有效性,证明了在机械臂发生故障的情况下能够快速、稳定的实现轨迹控制,并且具有较高的精度.A sliding mode fault-tolerant control for a free-floating three-link space manipulator is investigated when po⁃sition of its base is uncontrollable.Firstly,with an appropriate coordinate system,the dynamic equation of the free-float⁃ing three-link space manipulator is established by the momentum conservation theorem,with the second Lagrange equa⁃tion and the centroid of the system being employed or defined.Then,according to the non-singular sliding mode control and integral sliding mode control theory,a switching function is constructed.Based on the inversion control strategy and the high-order sliding mode control theory,a new control law is proposed.The controller has the combined characteris⁃tics of high-order sliding mode control,non-singular sliding mode control and integral sliding mode control in term of small chatting,non-singular and fast response.In order to achieve stable control under the fault function with unknown fault sizes,a new adaptive rate is proposed,which improves the fault tolerance of the system.Finally,the effectiveness of the proposed controller is verified by MATLAB simulation.It demonstrates that the trajectory control can be realized quickly and stably in the case of a mechanical arm failure with a high precision.

关 键 词：空间机械臂 故障 滑模控制 容错控制 反演控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]