于潇雁,陈力.漂浮基柔性两杆空间机械臂的关节运动鲁棒控制与柔性振动最优控制
Robust joint motion control and vibration optimal control for a free-floating two-flexible-link space manipulator[J].计算力学学报,2016,33(2):144~149 |
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漂浮基柔性两杆空间机械臂的关节运动鲁棒控制与柔性振动最优控制
Robust joint motion control and vibration optimal control for a free-floating two-flexible-link space manipulator |
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| 投稿时间：2014-12-13 修订日期：2015-04-05 |
| DOI：10.7511/jslx201602002 |
| 中文关键词: 飘浮基柔性两杆空间机械臂 奇异摄动理论 增广法 鲁棒控制 关节运动控制 振动最优控制 |
| 英文关键词:free-floating two-link flexible space manipulator singular perturbation theory augmented approach robust control joint motion control vibration optimal control |
| 基金项目:国家自然科学基金(11372073,11072061);福建省自然科学基金(2016J01228)资助项目. |
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| 中文摘要: |
| 讨论了载体位置、姿态均不受控情况下,具有有界干扰及有界未知参数的漂浮基柔性两杆空间机械臂的具有鲁棒性的关节运动控制与柔性振动最优控制算法设计问题。首先选择合理的联体坐标系,利用拉格朗日方程并结合动量守恒原理得到漂浮基柔性两杆空间机械臂系统的动力学方程。通过合理选择联体坐标系与利用奇异摄动理论,实现了两个柔性杆柔性振动之间、关节运动与两柔性杆柔性振动的解耦,得到了柔性两杆空间机械臂的慢变子系统与柔性臂快变子系统。针对两个子系统设计相应的控制规律,即增广鲁棒慢变子系统控制律与柔性臂快变子系统最优控制律,这两个相应的子系统控制规律综合到一起构成飘浮基柔性两杆空间机械臂总的关节运动与臂柔性振动控制的组合控制律。系统的数值仿真证实了方法的有效性。该控制方案不需要直接测量漂浮基的位置、移动速度和移动加速度。 |
| 英文摘要: |
| A robust joint motion control and vibration optimal control is addressed for a free-floating two-flexible-link space manipulator with unknown but bounded external disturbances and parameters.The dynamic model of a free-floating space manipulator with two flexible links is established by the momentum conservation and the Lagrange equations.Based on singular perturbation approach and choosing appropriate local coordinate frame,the interactions of rigid and flexible motion and the interactions of flexible motion of the two flexible links are decoupled,and a slow subsystem and a flexible-link fast subsystem are obtained.Then the corresponding controllers are proposed for the two subsystems,which are the augmented slow subsystem controller and the flexible link fast subsystem optimal controller.And a composite controller is combined with the two subsystem controllers to control the joint motion and the flexible links vibrations simultaneously.Numerical simulation demonstrates the proposed control algorithm' s efficiency.The virtue of this control scheme is that the linear position,linear velocity,linear acceleration of the base needn' t be measured directly. |
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