摘要
研究了柔性空间机械臂协调运动控制及柔性振动抑制问题。利用假设模态法及系统动量守恒关系,导出了空间机械臂的系统动力学模型。基于混合滑模思想,针对系统惯性参数存在不确定的复杂情况,提出了一种柔性空间机械臂本体姿态、关节协调运动的自适应变结构控制方案。该文所引入的混合滑模由频率成形最优滑模及终端滑模两部分组成。前者用于抑制系统柔性杆件的振动,后者则是为了保证系统追踪误差在有限时间内的收敛性。此外,上述控制方案由于在控制过程中无需预知系统的柔性变量,因此可有效避免对系统柔性状态变量进行实时地测量与反馈,较适于实际应用。仿真运算,证实了所提控制方法的有效性。
The coordinated motion control and flexible vibration suppression problems of flexible space manipulator are studied.With the assumed mode method and the linear momentum conservation of the system,the system dynamics model of the space manipulator is derived.Based on the hybrid sliding mode concept,an adaptive variable structure control scheme is proposed for the flexible space manipulator to achieve the coordinated motion between the base＇s attitude and the arm＇s joints,which accounts for the uncertainty in inertial parameters.The hybrid sliding mode introduced consists of two parts,the frequency shaped optimal sliding mode and the terminal sliding mode.The former is used to suppress the vibration of flexible link of the system,and the latter is utilized to guarantee the convergence of system tracking errors in finite time.Moreover,the control scheme proposed does not require the foreknowledge of flexible variables in control.Thus,it can effectively avoid the real-time measurements and feedbacks of system flexible variables,and be more suitable for practical applications.Simulation results demonstrate the effectiveness of the proposed control scheme.
出处
《工程力学》
EI
CSCD
北大核心
2012年第2期216-221,共6页
Engineering Mechanics
基金
国家自然科学基金项目(10672040)
福建省自然科学基金项目(2010J01003)
关键词
柔性空间机械臂
协调运动
混合滑模
自适应变结构控制
振动抑制
flexible space manipulator
coordinated motion
hybrid sliding mode
adaptive variable structure control
vibration suppression
作者简介
通讯作者：陈志勇（1984-），男，福建莆田人，博士生，从事空间机器人动力学与控制研究（E-mail：chenzhiyong0203@sina．com）．
陈力（1961-），男，江西九江人，教授，博士，博导，从事多体系统动力学、空间机器人动力学与控制等研究（E-mail：Chnle@fzu.edu．cn）
