柔性基、柔性铰空间机器人基于状态观测的改进模糊免疫混合控制及抑振研究

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振动与冲击 ›› 2018, Vol. 37 ›› Issue (19) : 174-182.

论文

陈志勇，李振汉，张婷婷

作者信息 +

Improved fuzzy-immune hybrid control and vibration suppression for flexible-base, flexible-joint space robots based on state observation#br#

CHEN Zhiyong, LI Zhenhan, ZHANG Tingting

Author information +

文章历史 +

摘要

研究了在有界外部扰动、基座姿态控制输入比例不确定影响下，柔性基、柔性铰空间机器人系统的刚性轨迹跟踪控制及柔性振动抑制问题。结合系统动量守恒原理、拉格朗日法并应用柔性补偿与奇异摄动技术，建立了柔性基、柔性铰空间机器人的奇异摄动动力学方程。为消除系统外部扰动、不确定控制输入比例对空间机器人轨迹跟踪精度的影响，在传统免疫控制算法基础上引入线性速度观测器及模糊控制器，提出一种基座姿态与机械臂各关节协调运动且不依赖于被控慢变子系统模型的改进模糊免疫混合控制律。为主动抑制基座、关节所产生的双重柔性振动，针对快变子系统提出一种基于线性状态观测器的最优控制律。综合上述两个控制律，得到了一种改进模糊免疫混合控制及抑振方案。所提控制方案无需在实时控制过程中对空间机器人的相关速度信号进行测量与反馈，并对系统不确定性保持有很强的鲁棒性。仿真实验结果证实了方案在系统刚、柔性运动控制上的有效性。

Abstract

The rigid trajectory tracking control and flexible vibration suppression for flexible-base, flexible-joint space robot systems were studied under effects of bounded external disturbances and uncertain pedestal attitude control input proportion.Combined with the system momentum conservation principle and Lagrange method, the flexible compensation and the singular perturbation technique were adopted to establish the singular perturbation dynamic equations of a flexible-base, flexible-joint space robot system.To eliminate influences of external disturbances and uncertain control input proportion on the trajectory tracking precision of a space robot system, a linear velocity observer and a fuzzy controller were introduced based on the traditional immune control algorithm to propose an improved fuzzy- immune hybrid control law, it was independent on controlled slow-varying subsystem models and realized coordinated motion between pedestal attitude and joints of manipulator.To actively suppress double flexible vibrations of pedestal and joints, an optimal control law based on a linear state observer was proposed for fast-varying subsystems.The improved fuzzy-immune hybrid control and vibration suppression scheme was obtained by combining the above two control laws.The proposed control scheme didn’t need measurement and feedback of related velocity signals of the space robot system in process of real time control and kept strong robustness to the system uncertainties.Simulation results verified the effectiveness of the scheme in control of the system’s rigid and flexible motions.

导出引用

陈志勇，李振汉，张婷婷. 柔性基、柔性铰空间机器人基于状态观测的改进模糊免疫混合控制及抑振研究[J]. 振动与冲击, 2018, 37(19): 174-182

CHEN Zhiyong, LI Zhenhan, ZHANG Tingting. Improved fuzzy-immune hybrid control and vibration suppression for flexible-base, flexible-joint space robots based on state observation#br#[J]. Journal of Vibration and Shock, 2018, 37(19): 174-182

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