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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。
The robust control of joint motion and the optimal control of flexible vibration based on linear observer are discussed for the floating base flexible two space manipulator with no control of position and attitude. Select a reasonable joint coordinate system, the use of Lagrange equations and the principle of conservation of momentum to get the floating base flexible two-bar robot system dynamics equations. Through the reasonable choice of the joint coordinate system and the use of singular perturbation theory, the slow variable subsystem and flexible arm fast subsystem of the flexible two-barreled space manipulator are obtained. The control laws of the two subsystems are designed, that is, the control law of the robust slowly variable subsystem based on linear observer and the optimal control law of the flexible arm fast subsystems based on linear observer. The numerical simulation of the system proves the effectiveness of the method Sex.