基于观测器的柔性两杆空间机械臂鲁棒控制

系统仿真学报 ›› 2016, Vol. 28 ›› Issue (7): 1520-1527.

基于观测器的柔性两杆空间机械臂鲁棒控制

于潇雁, 陈力

福州大学机械工程及自动化学院,福建福州 350116

收稿日期:2014-11-15 修回日期:2015-01-12 出版日期:2016-07-08 发布日期:2020-06-04
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。
基金资助:
国家自然科学基金(11372073), 福建省自然科学基金(2010J01003,2016J01228)

Robust Control of Free-floating Two-flexible-link Space Manipulator Based on Observer

Yu Xiaoyan, Chen Li

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

Received:2014-11-15 Revised:2015-01-12 Online:2016-07-08 Published:2020-06-04

摘要/Abstract

摘要： 讨论了载体位置、姿态均不受控情况下漂浮基柔性两杆空间机械臂基于线性观测器的关节运动鲁棒控制及柔性振动最优控制。选择合理的联体坐标系,利用拉格朗日方程并结合动量守恒原理得到漂浮基柔性两杆空间机械臂系统的动力学方程。通过合理选择联体坐标系与利用奇异摄动理论,得到柔性两杆空间机械臂的慢变子系统与柔性臂快变子系统。针对两个子系统设计相应的控制规律,即基于线性观测器的鲁棒慢变子系统控制律与基于线性观测器的柔性臂快变子系统最优控制律,系统的数值仿真证实了方法的有效性。

关键词: 柔性两杆空间机械臂, 奇异摄动法, 鲁棒控制, 线性观测器, 柔性振动最优控制

Abstract: The joint motion robust control and optimal flexible vibration control of a free-floating two-flexible-link space manipulator based on linear observers was discussed. The dynamic model of a free-floating space manipulator with two flexible links was established by the momentum conservation and the Lagrange equations. Based on singular perturbation approach and choosing appropriate local coordinate frame, a slow subsystem and a flexible-link fast subsystem were obtained. The corresponding controllers were proposed for the two subsystems, which was the linear observer based robust slow subsystem controller and the linear observer based flexible link fast subsystem optimal controller. Numerical simulation demonstrates the proposed control algorithm's efficiency.

Key words: two-flexible-link space manipulator, singular perturbation approach, robust control, linear observer, optimal flexible vibration control

中图分类号:

V448

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.

Yu Xiaoyan, Chen Li. Robust Control of Free-floating Two-flexible-link Space Manipulator Based on Observer[J]. Journal of System Simulation, 2016, 28(7): 1520-1527.

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