柔性关节和柔性臂空间机器人的L2增益鲁棒控制

doi:10.16182/j.issn1004731x.joss.201804029

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (4): 1448-1455.doi: 10.16182/j.issn1004731x.joss.201804029

柔性关节和柔性臂空间机器人的L₂增益鲁棒控制

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:2016-04-14 修回日期:2016-07-22 出版日期:2018-04-08 发布日期:2019-01-04
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),福建省工业机器人基础部件技术重大研发平台(2014H21010011)

L₂-gain Robust Control for Flexible Joints and Flexible Link Space Robot

ZhangLijiao^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:2016-04-14 Revised:2016-07-22 Online:2018-04-08 Published:2019-01-04

摘要/Abstract

摘要： 讨论了臂杆与关节均具有柔性的漂浮基空间机器人运动及其关节、臂双重振动的控制问题,利用系统动量守恒关系和拉格朗日法得到系统动力学模型。采用积分流的思想对系统动力学模型进行奇异摄动分解,将其分解为：通过设计速度差值反馈控制来抑制关节柔性振动的快变子系统,通过设计线性二次最优控制来抑制臂杆柔性振动的快变子系统,描述空间机器人关节刚性运动且使得外部干扰对系统性能输出具有L₂增益鲁棒控制的慢变子系统,以避开直接求解HJI(Hamilton-Jacobi Inequality)不等式计算量大的困难。通过系统数值仿真,表明该算法有效。

关键词: 外部扰动, 漂浮基, 柔性关节、柔性臂空间机器人, L₂增益鲁棒控制, 双重振动分级主动抑制

Abstract: The trajectory tracking and the double flexible vibration active suppression control for free-floating space robot with flexible-joints and flexible-link were proposed. The dynamic equation of the system was established according to system’s momentum conservation and Lagrange method. A singular perturbation model was established by integral manifold method, and the system was decomposed into a fast subsystem of flexible-joint which used the speed difference between the feedbacks of control law to suppress the elastic vibration of flexible-joints, a fast subsystemof flexible-link which designed optimal linear quadratic regulator (LQR) to damp out the vibration of the flexible manipulator and a slow subsystemwhich designed a robust controller to make the external disturbances have the performance of the L₂-gain of the system, that avoids to directly solve the HJI (Inequality Hamilton-Jacobi) inequality of large calculation. Numerical simulation results show that the proposed control algorithm is effective.

Key words: external disturbance, freefloating, space robot with flexible-joint and flexible-link, L₂-gain robust control, dual vibration grading suppression

中图分类号:

TP241

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.

ZhangLijiao, Chen Li. L₂-gain Robust Control for Flexible Joints and Flexible Link Space Robot[J]. Journal of System Simulation, 2018, 30(4): 1448-1455.

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柔性关节和柔性臂空间机器人的L₂增益鲁棒控制

L₂-gain Robust Control for Flexible Joints and Flexible Link Space Robot

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