基于SDRE控制的双臂空间机器人轨迹优化跟踪  

Optimization of Trajectory Tracking Control for Dual-Arm Space Robot based on SDRE Control

作　　者：顾建华[1] 孙翠玲 贲能军[1,3] GU Jian-hua;SUN Cui-ling;BEN Neng-jun(College of Mechanical and Electrical Engineering,Yancheng Polytechnic College,Jiangsu Yancheng 224000,China;College of Information Engineering,Yancheng Teachers University,Jiangsu Yancheng 224001,China;Anhui University of Technology,Anhui Maanshan 243002,China)

机构地区：[1]盐城工业职业技术学院机电工程学院,江苏盐城224000 [2]盐城师范学院信息工程学院,江苏盐城224001 [3]安徽工业大学,安徽马鞍山243002

出　　处：《机械设计与制造》2022年第5期230-234,共5页Machinery Design & Manufacture

基　　金：苏北科技专项资助课题(SZ-YC2018067)研究成果之一。

摘　　要：针对自由漂浮双臂空间机器人惯性参数未知的问题,提出了一种基于状态依赖Riccati方程的两级优化控制方法。首先,基于扩展机械臂方法建立双臂空间机器人自由漂浮状态下的关节空间动力学模型;而后将标称状态变量和实际状态变量作为标称动力学方程的反馈输入量,借助增广变量法,分别得到空间机器人关于关节角度和角速度的类线性标称状态方程和实际状态方程;根据标称状态方程设计离线标称SDRE控制器,并建立其与实际状态方程的误差模型;由此进一步设计在线补偿SDRE控制器补偿标称控制器的跟踪误差。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。In order to cope with the inertia parameters unknown problem of a free-floating dual-arm space robot system,a twolevel optimized control method is proposed based on State-Dependent-Riccati Equation(SDRE). Firstly,the dynamic equation in the joint space of free-floating dual-arm space robot system is formulated based on the extended manipulator model. And then,with the idea of an augmentation approach,using nominal state variable and actual state variable as the inputs of the nominal dynamic equation,the pseudo linear form of the nominal dynamic equation and the actual dynamic equation are acquired about angle and angular velocity of dual-arm space robot system. Furthermore,an offline nominal SDRE controller is designed by nominal dynamic equation,and the error model between nominal dynamic equation and actual dynamic equation is formulated.Therefore,an online compensatory SDRE controller is designed to compensate the tracking error of the nominal SDRE controller.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：惯性参数未知 双臂空间机器人 状态依赖Riccati方程 两级优化控制 增广变量法 

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]