考虑传感器故障的空间机械臂阻抗控制  

Impedance control of space manipulators with sensor failures

作　　者：何胤 王娜[1,2] HE Yin;WANG Na(College of Automation,Qingdao University,Qingdao 266071,China;Shandong Key Laboratory of Industrial Control Technology,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071 [2]青岛大学山东省工业控制技术重点实验室,山东青岛266071

出　　处：《电子设计工程》2025年第8期12-16,共5页Electronic Design Engineering

基　　金：国家自然科学基金项目(61703221);山东省自然科学基金资助项目(ZR2016FP10)。

摘　　要：针对空间机械臂控制过程中由于力矩传感器故障引起的机械臂阻抗控制偏差,造成机械臂末端受损的问题,提出一种基于模糊控制与故障观测器的空间机械臂自适应阻抗控制方法。建立机械臂末端力矩传感器故障模型,针对故障模型中的故障因子,基于自适应技术对其进行处理;针对机械臂模型中存在的偏置故障与未知干扰,定义一个复合干扰,采用故障观测器对其进行估计。基于Lyapunov稳定性定理,证明了闭环系统中所有状态量有界。通过仿真验证了所提方法的有效性。In order to solve the problem that the end of the manipulator is damaged due to the impedance control deviation of the manipulator caused by the fault of the torque sensor in the control process of the space manipulator,an adaptive impedance control method of the space manipulator based on fuzzy control and fault observer is proposed.The fault model of the torque sensor at the end of the robotic manipulator is established,and the fault factors in the fault model are processed based on adaptive technology.Aiming at the bias fault and unknown disturbance in the manipulator model,a composite disturbance is defined and estimated by using the fault observer.Based on Lyapunov’s stability theorem,it is proved that all state quantities in a closed-loop system are bounded.The effectiveness of the proposed method is verified by simulation.

关 键 词：空间机械臂 阻抗控制 故障观测器 模糊控制 

分 类 号：TN108.4[电子电信—物理电子学]