柔性关节空间机器人自适应模糊鲁棒H∞控制

doi:10.16182/j.issn1004731x.joss.201706009

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (6): 1223-1228.doi: 10.16182/j.issn1004731x.joss.201706009

柔性关节空间机器人自适应模糊鲁棒H_∞控制

张丽娇^1,2, 陈力^1,2

1、福州大学机械工程及自动化学院,福州 350108;
2、福建省高端装备制造协同创新中心,福州 350116

收稿日期:2015-07-10 修回日期:2015-11-09 出版日期:2017-06-08 发布日期:2020-06-04
作者简介:张丽娇(1989-),女,福建宁德,博士,研究方向为空间机器人系统动力学与控制;陈力(1961-),男,江西九江,博士,教授,研究方向为空间机器人动力学与控制、多体系统动力学。
基金资助:
国家自然科学基金(11372073, 11072061)

Adaptive Fuzzy Robust H∞ Control of Flexible-joint Space Robot

Zhang Lijiao^1,2, Chen Li^1,2

1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China;
2. Collaborative Innovation Center of High End Equipment Manufacturing, Fuzhou 350116, China

Received:2015-07-10 Revised:2015-11-09 Online:2017-06-08 Published:2020-06-04

摘要/Abstract

摘要： 为了解决参数未知情况下柔性关节空间机器人关节运动与关节柔性振动主动抑制的问题。引入一种关节柔性补偿器,以提高关节的等效刚度;之后,采用奇异摄动理论将系统分解为快、慢变子系统。为慢变子系统设计了自适应模糊H∞控制,用模糊逻辑系统逼近系统不确定项的同时,采用H_∞鲁棒控制项来克服模糊逼近遗留的误差对输出跟踪误差的影响。为快变子系统采用速度差值反馈控制律来抑制关节柔性引起的系统弹性振动。仿真表明,所设计的控制算法能够精确、稳定地控制空间机器人的关节运动的同时,主动抑制关节柔性振动;证实了控制算法的有效性。

关键词: 柔性关节空间机器人, 关节柔性补偿器, 自适应模糊, H_∞鲁棒控制

Abstract: In order to solve the problem of trajectory tracking and vibration suppression control for parameter unknown flexible-joints space robot system, a joint flexibility compensation controller was introduced to improve the equivalent stiffness of the joint; by using the singular perturbation method, the system was decomposed into a slow subsystem and a fast subsystem. For the slow subsystem, the adaptive fuzzy H∞ control algorithm was designed; by using the fuzzy logic system to approximate the system uncertainty, a robust H∞ control was used to eliminate the influence of the fuzzy approximation legacy of error to the output tracking error. For the fast subsystem, the speed difference between the feedback control law was used to suppress the elastic vibration of flexible joints which was caused by system. Numerical simulation results show that the proposed control algorithm can control the joint tracking of the space robot with flexible joints accurately and steadily, and suppress actively vibration of flexible joints, which proves the validity of the controller.

Key words: flexible-joints space robot, joint flexibility compensation controller, adaptive fuzzy, H∞ robust control

中图分类号:

TP241

张丽娇, 陈力. 柔性关节空间机器人自适应模糊鲁棒H_∞控制[J]. 系统仿真学报, 2017, 29(6): 1223-1228.

Zhang Lijiao, Chen Li. Adaptive Fuzzy Robust H∞ Control of Flexible-joint Space Robot[J]. Journal of System Simulation, 2017, 29(6): 1223-1228.

参考文献

[1] Kumar A, Pathak P, Sukavanam N.Reduced model based control of two link flexible space robot[J]. Intelligent Control and Automation (S2153-0653), 2011, 2(2): 112-120.
[2] 梁捷, 陈力. 柔性空间机械臂的双环积分滑模控制[J]. 中国机械工程, 2011, 22(16): 1906-1912.
(Liang Jie, Chen Li.Dual-loop integral sliding mode control for flexible space manipulator[J]. China Mechanical Engineering, 2011, 22(16): 1906-1912.)
[3] 王从庆, 石宗坤, 袁华. 自由浮动空间双臂机器人的鲁棒协调控制[J]. 宇航学报, 2005, 26(4): 436-440.
(Wang Cong-qing, Shi Zong-kun, Yuan Hua.Robust coordinated control of a free-floating dual-arm space robot[J].Journal of Astronautics, 2005, 26(4): 436-440.)
[4] 洪在地, 贠超, 陈力. 柔性臂漂浮基空间机器人建模与轨迹跟踪控制[J]. 机器人, 2007, 29(1): 92-96.
(Hong Zai-di, Yun Chao, Chen Li.Modeling and trajectory tracking control of a free-floating space robot with flexible manipulators[J]. Robot, 2007, 29(1): 92-96.)
[5] Sabatini M, Gasbarri P, Monti R, et al.Vibration control of a flexible space manipulator during on orbit operations[J]. Acta Astronautica (S0094-5765), 2012, 73(2): 109-121.
[6] Pereira E, Aphale S S, Feliu V.Integral resonant control for vibration damping and precise tip-positioning of a single-Link flexible manipulator[J]. IEEE/ASME Transactions on Mechatronics (S1083-4435), 2011, 16(2): 232-240.
[7] Elmaraghy H A, Lahdhiri T, Ciuca F.Robust linear control of flexible joint robot systems[J]. Journal of Intelligent and Robotic Systems (S0921-0296), 2002, 34(4): 335-356.
[8] Nanos K.On the use of free-floating space robots in the presence of angular momentum[J]. Intelligent Service Robotics (S1861-2776), 2011, 4(1): 3-15.
[9] Lightcap C A, Banks S A.An extended Kalman filter for real-time estimation and control of a rigid-link flexible joint manipulator[J]. IEEE Transactions on Control Systems Technology (S1063-6536), 2010, 18(1): 91-103.
[10] Park Y J, Wan K C.External torque-sensing algorithm for flexible-joint robot based on Kalman filter[J]. Electronics Letters (S0013-5194), 2013, 49(14): 877-878.
[11] Vakil M, Fotouhi R, Nikiforuk P N.A new method for dynamic modeling of flexible-link flexible-joint manipulators[J]. Journal of Vibration and Acoustics (S1048-9002), 2012, 134(1): 14503-14513.
[12] Yeon J S, Yim J, Park H.Robust control using recursive design method for flexible joint robot manipulator[J]. Journal of Mechanical Science and Technology (S1738-494X), 2011, 25(12): 3205-3213.
[13] Koofigar H R.Adaptive tracking with external force disturbance rejection for uncertain robotic systems[J]. International Journal of Control Automation and Systems (S1598-6446), 2014, 12(1): 169-176.
[14] 陈志勇, 陈力. 漂浮基带柔性铰空间机器人的动力学建模及奇异摄动控制研究[J]. 中国机械工程, 2011, 18(22): 2151-2155.
(Chen Zhi-yong, Chen Li.Study on dynamics modeling and singular perturbation control of free-floating space robot with flexible joints[J]. China Mechanical Engineering, 2011, 18(22): 2151-2155.)
[15] Ulrich S, Sasiadek J Z, Barkana I.Nonlinear adaptive output feedback control of flexible-joint space manipulators with joint stiffness uncertainties[J]. Journal of Guidance Control and Dynamics (S0731-5090), 2014, 37(6): 1961-1975.
[16] Spong M W.Modeling and control of elastic joint robots[J]. Journal of Dynamic Systems Measurement and Control (S0022-0434), 1987, 109(4): 310-319.

柔性关节空间机器人自适应模糊鲁棒H_∞控制

Adaptive Fuzzy Robust H∞ Control of Flexible-joint Space Robot

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 2

编辑推荐

Metrics

本文评价

[1]	甘浪雄, 吴昌胜, 邓巍, 郑元洲, 周春辉. 内河弯曲河道船舶过弯自适应航迹控制仿真[J]. 系统仿真学报, 2021, 33(2): 461-471.
[2]	张小平, 周艳红, 张铸. 矿用电机车开关磁阻电机传动系统控制策略研究[J]. 系统仿真学报, 2016, 28(11): 2771-2777.