双柔臂空间机器人运动、振动一体化抗死区控制

doi:10.16182/j.issn1004731x.joss.18-0198

系统仿真学报 ›› 2020, Vol. 32 ›› Issue (3): 430-437.doi: 10.16182/j.issn1004731x.joss.18-0198

• 物理效应/模拟器仿真技术 • 上一篇下一篇

双柔臂空间机器人运动、振动一体化抗死区控制

黄小琴^1*, 陈力¹

1. 福州大学机械工程及自动化学院,福建福州 350108;
2. 闽江学院物理与电子信息工程学院,福建福州 350108

收稿日期:2018-04-10 修回日期:2018-10-29 出版日期:2020-03-18 发布日期:2020-03-25
作者简介:黄小琴(1983-),女,福建闽清,博士,讲师,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等。
基金资助:
国家自然科学基金(11372073,11072061)

Anti-dead-zone Control for Two Flexible Links Space Robot with Integration of Motion and Vibration

Huang Xiaoqin^1*, Chen Li¹

1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China;
2. College of Physics and Electronic Information Engineering, Minjiang University, Fuzhou 350108, China

Received:2018-04-10 Revised:2018-10-29 Online:2020-03-18 Published:2020-03-25

摘要/Abstract

摘要： 探讨漂浮基双柔臂空间机器人存在关节力矩输出死区与外部干扰时的姿态角度运动跟踪及柔性抑振的控制问题。引入含有刚性运动与柔性模态的混合轨迹概念,提出基于运动、振动一体化的积分滑模神经网络自适应控制方案。此方案的优点是不但通过补偿项消除了死区斜率与边界参数不确定及最优逼近误差上确界未知的影响,确保了刚性运动的鲁棒性,而且能同时主动地抑制两臂杆的柔性振动,从而提高轨迹跟踪性能。仿真算例结果表明方案能有效地实现运动、振动一体化控制。

关键词: 双柔臂空间机器人, 关节力矩输出死区, 运动、振动一体化控制, 积分滑模神经网络, 柔性抑振

Abstract: The angle tracking and flexible vibration suppression integrated control for the two flexible links free-floating space robot with joint torque output dead-zone and external disturbance are discussed. The hybrid trajectory concept with rigid motion and flexible mode is introduced, and an adaptive control scheme of the integral sliding mode neural network based on the integration of motion and vibration is proposed. In case the slope and boundary of dead-zone is uncertain and the upper kind of the optimal approximation error is unknown, the compensation term of the scheme can eliminate the effect, and ensures the robustness of the rigid motion. Also, the scheme suppresses the vibration of the two links flexible actively to improve the tracking performance. Simulation results show that the scheme can achieve the integration control of the motion and vibration effectively.

Key words: two flexible links space robot, joint torque output dead-zone, integration control of motion and vibration, integral sliding mode neural network, flexible vibration suppression

中图分类号:

TP241

黄小琴, 陈力. 双柔臂空间机器人运动、振动一体化抗死区控制[J]. 系统仿真学报, 2020, 32(3): 430-437.

Huang Xiaoqin, Chen Li. Anti-dead-zone Control for Two Flexible Links Space Robot with Integration of Motion and Vibration[J]. Journal of System Simulation, 2020, 32(3): 430-437.

参考文献

[1] Jayakody H S, Shi L L, Katupitiya J, et al.Robust Adaptive Coordination Controller for a Spacecraft Equipped with a Robotic Manipulator[J]. Journal of Guidance, Control, and Dynamics (S0731-5090), 2016, 39(12): 2699-2711.
[2] Abad A F, Ma O, Pham K, et al.A review of space robotics technologies for on-orbit servicing[J]. Progress in Aerospace Sciences (S0376-0421), 2014, 3(2): 1-26.
[3] 高欣, 孙汉旭, 杜明涛, 等. 考虑在轨运动可靠性的空间机械臂关节力矩优化方法[J]. 宇航学报, 2016, 37(7): 784-794.
Gao Xin, Sun Hanxu, Du Mingtao, et al.A joint torque optimization method for space manipulators considering the in-orbit motion reliability[J]. Journal of Astronautics (S1000-1328), 2016, 37(7): 784-794.
[4] Jarzębowska E, Pietrak K.Constrained Mechanical Systems Modeling and Control: A Free-floating Space Manipulator Case as a Multi-constrained Systems[J]. Robotics and Autonomous Systems (S0921-8890), 2014, 62(10): 1353-1360.
[5] Wang C Q, Wu P F, Zhou X, et al.Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System[J]. International Journal of Advanced Robotic Systems (S1729-8806), 2013, 10(124): 1-11.
[6] Huang X Q, Chen L.Integral sliding mode neural network control and active vibration suppression of a space robot with elastic base and two flexible arms[C]. 68nd International Astronautical Congress. Adelaide, Australia: 25-29 September 2017, 2017.
[7] 程靖, 陈力. 柔性空间机械臂捕获卫星后梯度下降自校正控制[J]. 系统仿真学报, 2018, 30(5): 1869-1876.
Cheng Jing, Chen Li.Gradient Descent Self-tuning Control of Flexible Space Manipulator After Capturing Operation[J]. Journal of System Simulation (S1004-731X), 2018, 30(5): 1869-1876.
[8] 刘延芳, 刘宏, 梦瑶. 负载不确定的柔性机械臂自适应自抗扰控制[J]. 哈尔滨工业大学学报, 2017, 49(7): 12-19.
Liu Yanfang, Liu Hong, Meng Yao.Adaptive active disturbance rejection control of flexible manipulators with uncertain payload[J]. Journal of Harbin Institute of Technology (S0367-6234), 2017, 49(7): 12-19.
[9] Yu X Y, Chen L.Singular perturbation adaptive control and vibration suppression of free-flying flexible space manipulators[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science (S0954-4062), 2015, 229(11): 1989-1997.
[10] 梁捷, 陈力. 柔性臂空间机器人基于虚拟力概念的神经网络L₂增益鲁棒控制[J]. 机械工程学报, 2012, 48(23): 23-29.
Liang Jie, Chen Li.Neural network L-two-gain robust control for flexible arm space robot based on virtual control force conception[J]. Journal of Mechanical Engineering (S0954-4062), 2012, 48(23): 23-29.
[11] Yang X X, Ge S S, He W.Dynamic modelling and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances[J]. International Journal of Control (S0020-7179), 2018, 91(4): 969-988.
[12] Seong I H, Lee J M.Finite-time sliding surface constrained control for a robot manipulator with an unknown deadzone and disturbance[J]. ISA Transactions (S0019-0578), 2016, 65: 307-318.
[13] He W, David A O, Zhao Y, et al.Neural network control of a robotic manipulator with input dead-zone and output constraint[J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems (S2168-2216), 2015, 46(6): 759-770.
[14] Ishihara A K, Doornik J V, Shahar B M.Control of robots using radial basis function neural networks with dead-zone[J]. International Journal of Adaptive Control and Signal Processing (S0890-6327), 2011, 25(7): 613-638.
[15] Hsu C F, Kuo T C.Intelligent complementary sliding-mode control with dead-zone parameter modification[J]. Applied Soft Computing (S1568-4946), 2014, 6(8): 355-365.
[16] Han S I, Lee K S, Park M G, et al.Robust adaptive dead-zone and friction compensation of robot manipulator using RWCMAC network[J]. Journal of Mechanical Science and Technology (S1738-494X), 2011, 25(6): 1583-1594.

双柔臂空间机器人运动、振动一体化抗死区控制

Anti-dead-zone Control for Two Flexible Links Space Robot with Integration of Motion and Vibration

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 13

编辑推荐

Metrics

本文评价

[1]	王刚, 孙太任, 丁胜培. 动态受限机械臂的局部加权学习控制[J]. 系统仿真学报, 2019, 31(4): 733-739.
[2]	程靖, 陈力. 空间机器人双臂捕获卫星后辅助对接操作控制仿真[J]. 系统仿真学报, 2018, 30(9): 3429-3436.
[3]	刘昱, 赵国新. 基于粒子群优化算法的无摩擦气缸结构优化[J]. 系统仿真学报, 2018, 30(9): 3564-3570.
[4]	程靖, 陈力. 柔性空间机械臂捕获卫星后梯度下降自校正控制[J]. 系统仿真学报, 2018, 30(5): 1869-1876.
[5]	张丽娇, 陈力. 柔性关节和柔性臂空间机器人的L₂增益鲁棒控制[J]. 系统仿真学报, 2018, 30(4): 1448-1455.
[6]	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.
[7]	李林瑛, 卢睿, 李绍华, 景雨, 刁建华. 有滞留时间约束的集束型装备在线调度方法[J]. 系统仿真学报, 2017, 29(2): 337-345.
[8]	陈罡, 周奇才, 吴菁, 严楠. 七自由度机械臂的ADAMS/MATLAB联合仿真研究[J]. 系统仿真学报, 2017, 29(1): 99-106.
[9]	卢睿, 李林瑛. 有滞留时间约束的单臂集束型装备调度研究[J]. 系统仿真学报, 2016, 28(8): 1776-1782.
[10]	于潇雁, 陈力. 飘浮基柔性关节、柔性臂空间机器人的鲁棒控制仿真[J]. 系统仿真学报, 2015, 27(12): 3025-3031.
[11]	程靖, 陈力. 空间机器人捕获目标后双幂次滑模神经网络补偿控制[J]. 系统仿真学报, 2017, 29(10): 2475-2482.
[12]	黄小琴, 陈力. 基座、臂杆全弹性空间机器人的递归CMACNN控制[J]. 系统仿真学报, 2019, 31(9): 1899-1906.
[13]	李宪华, 石雪松, 吕磊, 张雷刚, 宋韬. 基于全局可操作度的6R机械臂尺寸优化方法[J]. 系统仿真学报, 2019, 31(12): 2569-2574.