空间连续型机器人位姿与构型的能量整形控制  

Energy Shaping Control for Position,Attitude and Configuration of Space Continuum Robots

作　　者：杨今朝[1] 彭海军[2,3] 周文雅[1] 吴志刚[3] YANG Jinzhao;PENG Haijun;ZHOU Wenya;WU Zhigang(School of Aeronautics and Astronautics,Dalian University of Technology,Dalian 116024,China;Department of Engineering Mechanics,Dalian University of Technology,Dalian 116024,China;State Key Laboratory of Structural Analysis for Industrial Equipment,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]大连理工大学航空航天学院,大连116024 [2]大连理工大学工程力学系,大连116024 [3]大连理工大学工业装备结构分析国家重点实验室,大连116024

出　　处：《宇航学报》2022年第6期790-801,共12页Journal of Astronautics

基　　金：国家自然科学基金(91748203)。

摘　　要：针对空间连续型机器人(SCR)位置和姿态机动、连续型机械臂变形控制以及系统受到外界干扰的问题,基于连接与阻尼配置-无源性控制(IDA-PBC)方法设计了控制器。通过能量整形得到空间连续型机器人期望的能量函数,再对系统注入阻尼使其渐近稳定。利用非线性干扰观测器估计系统受到的干扰,并对外界干扰进行补偿。仿真结果表明:设计的控制器可以使空间连续型机器人机动到指定的位置和姿态,同时控制连续型机械臂变形为期望的构型,并且具有主动抗干扰的能力。通过选择合适的能量整形系数和阻尼注入系数,可使系统以期望的动态性能到达指定的平衡点。Based on interconnection and damping assignment passivity-based control(IDA-PBC)method,a controller is designed for the position and attitude maneuver of a space continuum robot(SCR),deformation control of continuum manipulators,and external disturbance to the system.The desired energy function of the SCR is obtained by energy shaping,and then the damping is injected to make the system asymptotically stable.The nonlinear disturbance observer is used to estimate the disturbance and compensate the external disturbance.The simulation results show that the designed controller can make the SCR move to the specified position and attitude,and control the deformation of continuum manipulators to the desired configuration.Additionally,the designed controller has the ability of active anti-disturbance.By selecting appropriate energy shaping and damping injection coefficients,the system can reach the specified equilibrium point with desired dynamic performance.

关 键 词：空间机器人 连续型机械臂 能量整形 阻尼注入 干扰观测器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]