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讨论了载体位置不受控、姿态受控情况下,漂浮基柔性空间机械臂关节运动及柔性振动主动抑制的控制问题。由系统动量守恒关系及假设模态法,利用拉格朗日方法建立了漂浮基柔性空间机械臂的系统动力学方程。之后采用奇异摄动理论,将其分解为表示刚性运动的慢变子系统和柔性振动的快变子系统。据此,设计了柔性空间机械臂系统载体姿态及机械臂关节铰协调运动的组合控制器。针对慢变子系统——柔性空间机械臂的刚性运动,设计了分块神经网络控制器,以完成系统参数未知情况下关节空间协调运动的轨迹跟踪;而对于快变子系统——柔性臂的振动,则设计了模糊控制器来主动抑制柔性杆的振动。数值仿真证实了提出方法的有效性。
The control problem of joint motion of flexible space manipulator with floating base and active restraint of flexible vibration is discussed under the condition of uncontrolled position and controlled attitude. Based on the system of conservation of momentum and the assumed mode method, the system dynamic equations of the flexible space manipulator with floating bases are established by Lagrange method. Then we use the singular perturbation theory to decompose it into slow-moving sub-systems for rigid motion and fast-moving sub-systems for flexible vibration. Based on this, a combination controller of flexible space manipulator system carrier attitude and manipulator articulated joint coordinated motion is designed. Aiming at the rigid motion of the slowly variable subsystem-flexible space manipulator, a piecewise neural network controller is designed to track trajectories of joint space coordinated motion with unknown system parameters. For fast subsystems-flexible arm Vibration, the fuzzy controller is designed to actively suppress the vibration of the flexible rod. Numerical simulation confirmed the effectiveness of the proposed method.