飘浮基柔性关节、柔性臂空间机器人的鲁棒控制仿真

系统仿真学报 ›› 2015, Vol. 27 ›› Issue (12): 3025-3031.

• 信息、控制、决策与仿真 • 上一篇下一篇

飘浮基柔性关节、柔性臂空间机器人的鲁棒控制仿真

于潇雁, 陈力

福州大学机械工程及自动化学院,福州 350116

收稿日期:2014-07-24 修回日期:2014-10-15 出版日期:2015-12-08 发布日期:2020-07-30
作者简介:于潇雁(1974-),女,山东烟台,博士生,副教授,研究方向为机构学、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,博导,研究方向为多体系统动力学、空间机器人系统动力学与控制、非线性振动与振动控制。
基金资助:
国家自然科学基金(11372073)

Robust Coordinated Motion Control of Free-floating Space Robot with Flexible-link and Flexible-joints

Yu Xiaoyan, Chen Li

School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China

Received:2014-07-24 Revised:2014-10-15 Online:2015-12-08 Published:2020-07-30

摘要/Abstract

摘要： 讨论了载体位置无控、姿态受控的飘浮基柔性关节、柔性臂空间机器人的鲁棒控制与振动分级抑制问题。利用拉格朗日方程与动量守恒原理得到系统的动力学方程。利用奇异摄动法,将柔性空间机器人系统分解为一个慢变子系统与2个快变子系统;提出了一个由鲁棒慢变控制项与2个快变控制项组成的复合控制器。该控制方案的显著优点为:不需要测量、反馈载体的位置、移动速度、移动加速度。系统的数值仿真,证实了该方法的有效性。

关键词: 飘浮基柔性空间机器人, 奇异摄动法, 鲁棒控制, 振动分级抑制, 柔性臂, 柔性关节

Abstract: Robust coordinated motion control and vibration hierarchical suppression of a free-floating space robot with one flexible link and two elastic revolute joints was proposed. The dynamical Lagrange equation was established by the momentum conservation. A singularly perturbed model was formulated, which consists of a slow subsystem and two fast subsystems. Based on the singularly perturbed model, a reduced-order controller was proposed, which consists of a robust slow control component and two fast control components. The virtue of this control scheme is that the linear position, linear velocity, linear acceleration of the base needn’t be measured directly. Numerical simulation demonstrates the proposed control algorithm’s efficiency.

Key words: free-floating flexible space robot, singular perturbation approach, robust control, vibration hierarchical suppression, flexible link, elastic joint

中图分类号:

TP241

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.

Yu Xiaoyan, Chen Li. Robust Coordinated Motion Control of Free-floating Space Robot with Flexible-link and Flexible-joints[J]. Journal of System Simulation, 2015, 27(12): 3025-3031.

参考文献

[1] Boumans R, Heemskerk C.The European Robotic Arm for the International Space Station[J]. Robotics and Autonomous Systems (S0921-8890), 1998, 23(1): 17-27.
[2] Garneau M.Space in the Service of Society: a Canadian Case Study[C]// Proceedings of 2^nd International Conference on Recent Advances in Space Technologies, Istanbul, Turkey, 2005. Istanbul, Turkey: IEEE, 2005: 1-6.
[3] Nohmi M.Development of Space Tethered Autonomous Robotic Aatellite[C]// Proceedings of 3^rd International Conference on Recent Advances in Space Technologies, Istanbul, Turkey, 2007. Istanbul, Turkey: IEEE, 2007: 462-467.
[4] Holcomb L B, Montemerlo, M D.NASA Automation and Robotics Technology Program[J]. IEEE aerospace and Electronic Systems Magazine (S0885-8985), 2009, 2(4): 19-26.
[5] Yoshida K.Achievements in Space Robotics[J]. IEEE Robotics and Automation Magazine (S1070-9932), 2009, 16(4): 20-28.
[6] 谢立敏, 陈力. 控制力矩受限情况下漂浮基柔性空间机械臂鲁棒自适应控制[J]. 机械工程学报, 2012, 48(21): 41-46.
[7] Zhang, D G, Zhou SH F. Dynamic Analysis of Flexible-link and Flexible-joint Robots[J]. Applied Mathematics and Mechanics (English Edition), 2006, 27(5): 695-704.
[8] Gao, ZH H, Yun CH. Bian Y SH. Coupling Effect of Flexible Joint and Flexible Link on Dynamic Singularity of Flexible Manipulator[J]. Chinese of Mechanical Engineering (English Edition), 2008, 21(1): 9-12.
[9] Subudhi B, Morris A S. Dynamic Modelling, Simulation and Control of a Manipulator with Flexible Links and Joints[J]. Robotics and Autonomous Systems (S0921-8890), 2002, 41: 257-270.
[10] 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: 14503-14513.
[11] Wilson D G, Starr G P, Parker G G, et al. Robust Control Design for Flexible-link/ Flexible-joint Robots[C]// Proceedings of the 2000 IEEE International Conference on Robotics & Automation, San Francisco, CA, USA. USA: IEEE, April 2000: 1496-1500.
[12] Alessandro D L, Bruno S.Closed-form Dynamic Model of Planar multilink Lightweight Robots[J]. IEEE Transactions on Systems, Man, and Cybernetics (S2168-2216), 1991, 21(4): 826-839.
[13] Spong M W.Modeling and Control of Elastic Joint Robots[J]. Journal of Dynamics Systems, Measurement, and Control (S0022-0434), 1987, 109: 310-319.
[14] Kokotovic P, Khalil H K, O’Reilly J. Singular Perturbation Methods in Control Analysis and Design [M]. USA: Academic Press, 1986.
[15] Arteaga M A, Kelly R.Robot Control Without Velocity Measurements: New Theory and Experimental Results[J]. IEEE Transactions on Robotics and Automation (S1042-296X), 2004, 20(2): 297-308.
[16] Yu X Y, Chen L, Xie L M.Observer-based Two Time Control of Free-flying Flexible Space Manipulator[C]// Proceedings of 64th International Astronautical Congress, Beijing, China, September, 2013. Beijing, China: IAF, 2013, 8: 6361-6369.

飘浮基柔性关节、柔性臂空间机器人的鲁棒控制仿真

Robust Coordinated Motion Control of Free-floating Space Robot with Flexible-link and Flexible-joints

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 7

编辑推荐

Metrics

本文评价

[1]	路宏广, 赵树恩. 基于鲁棒模型预测的智能汽车轨迹跟踪控制研究[J]. 系统仿真学报, 2022, 34(1): 153-162.
[2]	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.
[3]	葛为民, 闫珂珂, 王肖锋, 刘增昌. 可重构机械臂的鲁棒模糊自适应补偿控制[J]. 系统仿真学报, 2018, 30(5): 1950-1956.
[4]	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.
[5]	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.
[6]	于潇雁, 陈力. 基于观测器的柔性两杆空间机械臂鲁棒控制[J]. 系统仿真学报, 2016, 28(7): 1520-1527.
[7]	吴云洁, 宋闯, 左京兴. 低空飞行时改进的自适应鲁棒滑模姿态控制器[J]. 系统仿真学报, 2015, 27(9): 2163-2168.