空间柔性机械臂可以安装于空间站协助宇航员开展在轨维修、航天器交会对接和太空垃圾捕获等任务。空间柔性机械臂因其细长的结构在运动过程中会出现振动现象，进而影响操作精度和飞行安全。为了减弱空间柔性机械臂的振动，本文采用模糊补偿滑模控制策略对空间柔性机械臂的旋转运动进行控制。通过提高空间柔性机械臂的转动控制精度间接的减弱振动。本文首先根据假设模态法描述空间柔性机械臂的变形，使用拉格朗日原理建立了考虑了二维变形的模态和转角耦合的动力学方程。然后，利用模糊规则的万能逼近特性辨识、补偿包括柔性非线性项和外界干扰的动力学模型的不确定成分。接下来，根据李雅普诺夫函数设计模糊补偿滑模控制策略的控制律和自适应律以保证空间柔性机械臂的闭环稳定性。最后，开展了空间柔性机械臂的仿真和物理样机控制实验。实验结果表明模糊补偿滑模控制策略可以有效的提高空间柔性机械臂的转动控制精度，间接的减弱振动幅值。与传统的滑模控制策略相比，本文提出的控制策略可以使转角跟踪误差绝对值的平均值下降17.86%，使横向加速度的标准差下降31.91%。
Abstract
Space-flexible manipulators can be installed on the space station to assist astronauts in on-orbit maintenance, spacecraft rendezvous as well as docking, and space junk capture. Because of its slender structure, the space-flexible manipulator will vibrate in the process of moving, which will affect the operation's precision and flight safety. In order to reduce the vibration of space-flexible manipulators, fuzzy compensation sliding mode control strategy is proposed to control the rotating motion of space-flexible manipulators. The vibration is weakened indirectly by improving the rotation control precision of space-flexible manipulators. In this paper, the deformation of space-flexible manipulators is described based on the assumption mode method. The Lagrange principle is used to establish dynamic equations coupled with modal and angle which considers the two-dimensional deformation. Then, the universal approximation characteristic of fuzzy rules is used to identify and compensate for the uncertain components of dynamic models including flexible nonlinear terms and external disturbances. Then, according to the Lyapunov function, the control law and adaptive law of fuzzy compensation sliding mode control strategy are designed to ensure the closed-loop stability of space-flexible manipulators. Finally, the simulation and physical prototype control experiments of space-flexible manipulators are carried out. The experimental results show that the fuzzy compensation sliding mode control strategy can effectively improve the rotation control precision of space-flexible manipulators and indirectly reduce the vibration amplitude. Compared with the traditional sliding mode control strategy, the proposed control strategy can reduce the mean value of the absolute value of the angular tracking error by 17.86% and the standard deviation of the lateral acceleration by 31.91%.
关键词
空间柔性机械臂 /
滑模控制 /
模糊补偿 /
振动抑制
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Key words
Space-flexible manipulator /
Sliding mode control /
Fuzzy compensation /
Vibration suppression
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