空间机械臂碰撞过程的模糊无模型自适应振动控制

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振动与冲击 ›› 2023, Vol. 42 ›› Issue (19) : 14-21.

论文

浦玉学1,2，周润闰1,陈演1，张方3

作者信息 +

Fuzzy model-free adaptive vibration control for space manipulator collision process

PU Yuxue1,2, ZHOU Runrun1, CHEN Yan1, ZHANG Fang3

Author information +

文章历史 +

摘要

空间机械臂在执行操作任务时会面临碰撞问题，例如主动捕获或被动碰撞均会引起机械臂瞬时动量急剧变化，机械臂杆弹性振动加剧，轨迹跟踪精度降低，甚至会导致空间机械臂系统失稳。空间机械臂是一种非线性、强耦合的复杂系统，尤其是对于碰撞过程，很难实现系统精确建模。为实现对空间机械臂碰撞过程的振动抑制，提出了模糊策略与无模型自适应控制相结合的模糊-无模型自适应控制（Fuzzy-MAFC）方法。基于臂杆振动位移响应和关节角速度误差设计模糊策略，对无模型自适应控制中步长因子与权重因子进行在线自整定，解决传统无模型自适应控制对于参数初值敏感的局限性，实现了对空间机械臂碰撞过程中的振动自适应控制。仿真试验结果表明Fuzzy-MAFC方法相较于传统无模型自适应控制算法振动响应衰减速度提高34%，振动幅值降低了42%，验证了方法的有效性。

Abstract

Space manipulator will face collision problems when performing operational tasks, such as active capture or passive collision, which will cause sudden change of instantaneous momentum of the manipulator, increase of elastic vibration of the manipulator rod, decrease of trajectory tracking accuracy, and even lead to instability of the space manipulator system. Space manipulator is a complex system with nonlinear and strong coupling, especially for collision process, it is difficult to accurately model the system. In order to suppress the vibration of space manipulator during collision, fuzzy-Model-free adaptive control (Fuzzy-MAFC) algorithm was proposed by combining Fuzzy strategy with model-free adaptive control. Based on the vibration displacement and velocity error of the manipulator, a fuzzy strategy was designed to self-adjust the step factor and weight factor of the model-free adaptive control, which solved the limitation of the traditional model-free adaptive control to the initial value of parameters, and realized the vibration adaptive control of space manipulator in the collision process. Simulation results show that the vibration suppression efficiency of fuzzy-model-free adaptive control is about 30% higher than that of traditional model-free adaptive control, which verifies the effectiveness of the algorithm.

导出引用

浦玉学1,2，周润闰1,陈演1，张方3. 空间机械臂碰撞过程的模糊无模型自适应振动控制[J]. 振动与冲击, 2023, 42(19): 14-21

PU Yuxue1,2, ZHOU Runrun1, CHEN Yan1, ZHANG Fang3. Fuzzy model-free adaptive vibration control for space manipulator collision process[J]. Journal of Vibration and Shock, 2023, 42(19): 14-21

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