参数不确定漂浮基柔性空间机械臂载体姿态、关节协调运动及柔性振动主动抑制的混合控制方案

洪昭斌;陈力

振动与冲击 ›› 2010, Vol. 29 ›› Issue (11) : 94-99.

PDF(2260 KB)
PDF(2260 KB)
振动与冲击 ›› 2010, Vol. 29 ›› Issue (11) : 94-99.
论文

参数不确定漂浮基柔性空间机械臂载体姿态、关节协调运动及柔性振动主动抑制的混合控制方案

  • 洪昭斌; 陈力
作者信息 +

Hybrid Control Scheme of Coordinated Motion and Active Vibration Control for Free-Floating Space Flexible Manipulator with Parameter Uncertainty

  • HONG Zhao-bin; CHEN Li
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摘要




讨论了载体位置不受控、姿态受控情况下,漂浮基柔性空间机械臂系统可保证载体姿态、关节角协调运动变结构控制鲁棒性并同时抑制所产生柔性振动的混合控制方案。该变结构控制仅设计来完成渐近解耦的载体姿态及关节角轨迹追踪,而不能对柔性振动模态进行控制;为了主动抑制柔性杆的振动,使用虚拟控制力的观念生成了变结构控制所需的混合轨迹,从而为柔性空间机械臂设计了追踪混合轨迹的混合控制方案。数值仿真结果证实了该混合控制方案在系统参数不确定情况下,能够使载体姿态及机械臂关节角稳定地追踪期望轨迹并对所产生的柔性振动进行主动抑制。



Abstract

The hybrid control scheme is proposed to eliminate the flexible vibration of a free-floating space flexible manipulator while the robustness of Variable Structure Control (VSC) developed for coordinated motion is maintained. The VSC law alone, which is designed to track the desired trajectory of base’s attitude and joint angles, does not guarantee the stability of the flexible mode dynamics of the flexible link. In order to actively suppress the flexible vibration, hybrid trajectories for the VSC are generated using the virtual control force concept, so that the hybrid control scheme of space flexible manipulator can be designed. Simulation results confirm that the proposed hybrid control scheme can dominates the trajectory tracking of coordinated motion and actively suppress the vibration in the presence of parameter uncertainty.

关键词

漂浮基柔性空间机械臂 / 混合控制 / 变结构控制 / 柔性振动控制 / 虚拟控制力 / 不确定参数

Key words

free-floating space flexible manipulator / hybrid control / variable structure control / flexible vibration / virtual control force / parameter uncertainty

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洪昭斌;陈力. 参数不确定漂浮基柔性空间机械臂载体姿态、关节协调运动及柔性振动主动抑制的混合控制方案[J]. 振动与冲击, 2010, 29(11): 94-99
HONG Zhao-bin;CHEN Li. Hybrid Control Scheme of Coordinated Motion and Active Vibration Control for Free-Floating Space Flexible Manipulator with Parameter Uncertainty[J]. Journal of Vibration and Shock, 2010, 29(11): 94-99

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