空间机械臂碰撞过程的模糊无模型自适应振动控制  

Fuzzy model-free adaptive vibration control for space manipulator collision process

作　　者：浦玉学[1,2] 周润闰 陈演 张方 PU Yuxue;ZHOU Runrun;CHEN Yan;ZHANG Fang(School of Civil Engineering,Hefei University of Technology,Hefei 230009,China;Department of Aeronautics and Astronautics,Fudan University,Shanghai 200433,China;State Key Lab of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]合肥工业大学土木与水利工程学院,合肥230009 [2]复旦大学航空航天系,上海200433 [3]南京航空航天大学机械结构力学及控制国家重点实验室,南京210016

出　　处：《振动与冲击》2023年第19期14-21,共8页Journal of Vibration and Shock

基　　金：安徽省自然科学基金资助项目(2208085ME129);机械结构力学及控制国家重点实验室开放课题(MCMS-E-0121G01)。

摘　　要：空间机械臂在执行操作任务时会面临碰撞问题,例如主动捕获或被动碰撞均会引起机械臂瞬时动量急剧变化,机械臂杆弹性振动加剧,轨迹跟踪精度降低,甚至会导致空间机械臂系统失稳。空间机械臂是一种非线性、强耦合的复杂系统,尤其是对于碰撞过程,很难实现系统精确建模。为实现对空间机械臂碰撞过程的振动抑制,提出了模糊策略与无模型自适应控制相结合的模糊-无模型自适应控制(fuzzy model-free adaptive control,Fuzzy-MFAC)方法。基于臂杆振动位移响应和关节角速度误差设计模糊策略,对无模型自适应控制中步长因子与权重因子进行在线自整定,解决传统无模型自适应控制对于参数初值敏感的局限性,实现了对空间机械臂碰撞过程中的振动自适应控制。仿真试验结果表明,Fuzzy-MFAC方法相较于传统无模型自适应控制算法振动响应衰减速度提高了34%,振动幅值降低了42%,验证了该方法的有效性。Space manipulator faces collision problems when performing operational tasks,for examples,active capture or passive collision can cause rapid changes in instantaneous momentum of the manipulator,exacerbate elastic vibration of its arm,reduce trajectory tracking accuracy and even lead to instability of the space manipulator system.Space manipulators are a nonlinear and strongly coupled complex system,especially,for its collision processes,it is difficult to realize accurate system modeling.Here,to realize vibration suppression for collision process of a space manipulator,a fuzzy model-free adaptive control(Fuzzy-MFAC)method combining fuzzy strategy with MFAC was proposed.Based on displacement response of arm vibration and joint angular velocity error,a fuzzy strategy was designed for online auto-tuning of step factor and weight factor in MFAC to overcome the limitation of traditional MFAC being sensitive to initial parameter values,and realize vibration adaptive control in collision process of space manipulator.Simulation test results showed that compared to traditional MFAC algorithm,Fuzzy-MAFC method can improve vibration response attenuation speed by 34%and reduce vibration amplitude by 42%to verify its effectiveness.

关 键 词：空间机械臂 无模型自适应控制(MFAC) 模糊策略 振动控制 碰撞 

分 类 号：TH212[机械工程—机械制造及自动化]