柔性关节航空航天机械臂抗干扰控制研究  

Research on Anti-disturbance Control for Flexible Joints Aerospace Robotic Arms

作　　者：郇新[1,2] 李珺 魏明鉴 王鑫洋 HUAN Xin;LI Jun;WEI Mingjian;WANG Xinyang(Department of Mechanical and Electrical Engineering,Weifang Engineering Vocational College,Weifang 262500,China;College of Electronic Science and Engineering,Jilin University,Changchun 130061,China)

机构地区：[1]潍坊工程职业学院机电工程学院,山东潍坊262500 [2]吉林大学电子科学与工程学院,吉林长春130061

出　　处：《山东航空学院学报》2024年第4期73-78,共6页Journal of Binzhou University

基　　金：山东省自然科学基金面上项目(ZR2022MF262)。

摘　　要：航空航天机械臂具有柔性且对精度要求高,为抑制空间环境力矩和内部参数变化等干扰,提出了一种基于干扰观测器的航空航天机械臂反步控制策略。首先,建立柔性关节航空航天机械臂受干扰时的单关节数学模型,基于数学模型设计柔性关节航空航天机械臂的非线性干扰观测器,保证其能稳定估计干扰信号;然后,基于Lyapunov函数设计反步控制器,将干扰观测器估计到的干扰估计值补偿到反步控制器端,产生抑制实际干扰的控制量;最后,利用MATLAB/simulink搭建虚拟仿真进行验证。仿真结果表明,基于干扰观测器的柔性关节航空航天机械臂反步控制器能够有效抑制干扰,极大地改善了柔性关节航空航天机械臂的抗干扰性能。In response to the flexibility and high precision requirements of aerospace robotic arms,a disturbance observer-based backstepping control strategy for aerospace robotic arms is proposed to suppress disturbances such as space environmental torque and internal parameters variation.This strategy can accurately,stably,and smoothly track command signals in different scenarios.Firstly,establish the single joint mathematical model of the flexible joints aerospace robotic arm to the mode under disturbance,design a nonlinear disturbance observer for aerospace robotic arm based on mathematical models,and ensure that it can stably estimate interference signals.Then,design a backstepping controller based on the Lyapunov function,compensate the estimated disturbance value by the disturbance observer to the backstepping controller,and generate control quantities to suppress actual disturbance.Finally,use MATLAB/Simulink to build a virtual simulation for verification.The simulation results show that the backstepping controller of a flexible joint aerospace robotic arm based on disturbance observer can effectively suppress disturbance,and greatly improve the anti-disturbance performance of flexible joint aerospace robotic arm.

关 键 词：干扰观测器 柔性关节航空航天机械臂 抗干扰 反步控制 

分 类 号：V44[航空宇航科学与技术—飞行器设计] TP241[自动化与计算机技术—检测技术与自动化装置]