考虑摩擦与间隙的空间机械臂轨迹跟踪控制  

Trajectory tracking control of space manipulator considering friction and clearance

作　　者：高娟娟[1,2] 曹志琼 刘福才[1,2] GAO Juanjuan;CAO Zhiqiong;LIU Fucai(Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment,Yanshan University,Qinhuangdao 066004;Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004)

机构地区：[1]燕山大学智能控制系统与智能装备教育部工程研究中心,秦皇岛066004 [2]燕山大学河北省工业计算机控制工程重点实验室,秦皇岛066004

出　　处：《高技术通讯》2024年第8期864-874,共11页Chinese High Technology Letters

基　　金：载人航天领域预研(2016040301);国家自然科学基金联合基金(U22A2050);河北省自然科学基金(F2022203043);省级重点实验室绩效补助经费(22567612H)资助项目。

摘　　要：以空间机械臂在轨服务的高精度要求为背景,研究不同重力环境下考虑摩擦与间隙的空间机械臂轨迹跟踪控制。以二连杆空间机械臂为研究对象,建立基于轻杆模型的含间隙等效模型,使用Kane方程、力矩平衡原理建立摩擦模型,并运用拉格朗日方程建立机械臂动力学方程,设计无模型控制器。在此基础上分析不同重力环境下摩擦与间隙对机械臂关节驱动力、机械臂末端轨迹跟踪精度的影响,并与比例微分(PD)算法控制的机械臂末端轨迹跟踪效果相比较,验证在不改变控制器参数与结构的条件下,在不同重力环境下无模型控制算法的优越性。Based on the high precision requirements of space manipulator in orbit service,the trajectory tracking control of space manipulator considering friction and clearance in different gravity environments is studied.Taking two link space manipulator as the research object,the paper establishes the equivalent model with clearance based on light bar model,establishes friction model by using Kane equation and moment balance principle,and establishes the dynamic equation of manipulator by Lagrange equation.The controller without model is designed.On this basis,the driving force of friction and clearance to the joint of the manipulator and the trajectory tracking accuracy of the end of the manipulator are analyzed under different gravity conditions.The tracking effect of the algorithm is com-pared with the tracking effect of the robot arm end controlled by proportional derivative(PD)algorithm.The supe-riority of the model control algorithm is verified under different gravity conditions without changing the parameters and structure of the controller.

关 键 词：空间机械臂 重力 关节摩擦 关节间隙 无模型控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] V44[自动化与计算机技术—控制科学与工程]