柔性关节空间机械臂传感容错无模型自适应控制  

Sensor Fault-tolerant Model-free Adaptive Control of Flexible Joint Space Manipulator

作　　者：浦玉学[1,2,3] 陈演 李孝宝 PU Yuxue;CHEN Yan;LI Xiaobao(College of Civil Engineering,Hefei University of Technology,Hefei 230009,China;Department of Aeronautics and Astronautics,Fudan University,Shanghai 200433,China;Anhui Key Laboratory of Civil Engineering Structures and Materials,Hefei 230009,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]土木工程结构与材料安徽省重点实验室,合肥230009

出　　处：《宇航学报》2024年第1期133-141,共9页Journal of Astronautics

基　　金：安徽省自然科学基金资助项(2208085ME129,2208085MA17);中国博士后科学基金资助项目(2023M730651);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：针对传感信号畸变、丢失等故障状态严重影响空间机械臂控制系统性能的问题,提出基于空间机械臂运动传感器故障观测的无模型自适应容错控制方法。采用动态线性化和递推参数估计思想设计传感故障监测器,实现对传感畸变及数据丢失等故障的判定,并进行运动状态预测估计;建立包含跟踪误差变化率项的无模型自适应控制准则函数,有效惩罚由传感故障引起的参数估计突变问题;设计面向柔性关节空间机械臂的新型传感容错无模型自适应控制(SFT-MFAC)算法。仿真结果表明,在不同传感故障情况下,所提控制策略均能快速准确识别传感故障信息,避免系统瞬时发散,有效延长系统响应时间,增加控制系统的鲁棒性。A model free adaptive fault-tolerant control method based on fault observation of space manipulator motion sensors is proposed to address the serious impact of sensor signal distortion,loss,and other fault states on the performance of space manipulator control systems.Dynamic linearization and recursive parameter estimation were used to design the sensor fault monitor,which can judge the sensor disturbance and data loss and predict the motion state.A model-free adaptive control criterion function containing tracking error rate of change term was established to effectively punish the abrupt change of parameter estimation caused by sensing anomalies.A novel sensor fault-tolerant model-free adaptive control(SFT-MFAC)algorithm for flexible joint space manipulator was designed.The simulation results show that the proposed control strategy can quickly and accurately identify the sensor fault information,avoid the instantaneous divergence of the system,effectively extend the response time of the system,and increase the robustness of the control system under different sensor abnormalities.

关 键 词：柔性关节 空间机械臂 传感故障 无模型自适应控制 容错控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]