基座、臂杆全弹性空间机器人的递归CMACNN控制

doi:10.16182/j.issn1004731x.joss.17-0393

系统仿真学报 ›› 2019, Vol. 31 ›› Issue (9): 1899-1906.doi: 10.16182/j.issn1004731x.joss.17-0393

基座、臂杆全弹性空间机器人的递归CMACNN控制

黄小琴^1,2, 陈力^1,2

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

收稿日期:2017-08-11 修回日期:2018-01-16 发布日期:2019-12-12
作者简介:黄小琴(1983-),女,福建闽清,博士生,研究方向为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(11372073,11072061),福建省工业机器人基础部件技术重大研发平台资助项目(2014H21010011)

Recurrent CMACNN Control for Space Robot with Fully Flexible Arms and Elastic Base

Huang Xiaoqin^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:2017-08-11 Revised:2018-01-16 Published:2019-12-12

摘要/Abstract

摘要： 探讨了基座、臂杆全弹性影响下的漂浮基空间机器人系统的轨迹跟踪问题。将弹性基座与臂杆间的连接视为线性弹簧,推导出系统的动力学模型,并将其视为双时间尺度系统。对于慢变子系统,针对刚性运动的轨迹跟踪问题,利用递归CMAC神经网络(CMACNN)具有动态特性的优点,逼近动力学方程不确定项,设计递归CMAC神经网络控制方案,提高了跟踪性能;对于快变子系统,针对弹性基座与两柔性杆的振动,采用线性二次型最优控制抑振。仿真验证了此复合控制方法的有效性。

关键词: 臂杆全弹性空间机器人, 基座, 奇异摄动法, 递归CMACNN, 主动抑振

Abstract: The trajectory tracking of elastic base and double flexible arms for a free-floating space robot system with fully flexible arms and elastic base is discussed. The elastic connection between the base and the arm is considered as a linear spring and dynamics model of the system which is regarded as a two- time scale system is derived. For the slow-varying subsystem, the recursive CMAC neural network (CMACNN) which has good dynamic characteristics is used to approximate uncertainties of dynamical equation and a recursive CMAC neural network control scheme which improves the tracking performance is designed to improve the tracking trajectory of rigid motion. For the fast-varying subsystem, an optimal linear quadratic regulator controller is adopted to damp out the vibration of the two flexible links and base elastic. Simulation results verify the effectiveness of the compound control method.

Key words: Space robot with fully flexible arms, elastic base, singular perturbation method, recurrent CMACNN, active vibration suppression

中图分类号:

TP241

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.

Huang Xiaoqin, Chen Li. Recurrent CMACNN Control for Space Robot with Fully Flexible Arms and Elastic Base[J]. Journal of System Simulation, 2019, 31(9): 1899-1906.

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基座、臂杆全弹性空间机器人的递归CMACNN控制

Recurrent CMACNN Control for Space Robot with Fully Flexible Arms and Elastic Base

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