摘要
讨论了本体位置与姿态均不受控制情况下,漂浮基空间机械臂关节空间轨迹跟踪的控制问题。结合系统动量及动量矩守恒关系并利用拉格朗日方法,建立了漂浮基空间机械臂完全能控形式的系统动力学方程。以此为基础,针对空间机械臂末端爪手所持载荷参数未知的情况,设计了一种标称计算力矩控制器附加自适应模糊补偿控制器的复合控制方案;即通过自适应模糊补偿控制器来弥补系统未知参数对标称计算力矩控制器的影响,以确保存在未知系统参数情况下整个闭环控制系统的渐近稳定性。提到的控制方案能够有效地克服系统未知参数的影响,控制漂浮基空间机械臂的两个关节稳定地跟踪关节空间的期望轨迹;并具有不需要测量和反馈空间机械臂本体的位置、移动速度、移动加速度以及姿态角速度、姿态角加速度的显著优点,同时也不要求系统动力学方程关于系统惯性参数呈线性函数关系。通过系统数值仿真证实了方法的有效性。
When both the attitude and location of base were uncontrolled,the control for free-floating space manipulator to track desired trajectory in joint space was discussed.Combining the relationship of the linear and angular momentum conversation of the system and the Lagrange approach,the full-controlled dynamic equation of free-floating space manipulator was established.Based on above results proposed,aiming at the case of free-floating space manipulator system with uncertain inertial parameters,a composite scheme of a computed torque controller plus a fuzzy compensator was proposed to track desired trajectories in joint space.Namely,it made up impact of system＇s unknown parameters to computed torque controller through fuzzy adaptive compensation system controller,to ensure the whole closed-loop control system＇s asymptotic stability with the existence of unknown parameters.The mentioned control scheme could effectively control two joint of space manipulator to stably track the desired trajectory in joint space,which had obvious advantages that it was necessary to feedback and measure the position,velocity,acceleration,attitude angle velocity and attitude angle acceleration of the floating base,at the same time,no any requirements for the dynamic equations of the system were linearly dependent on inertial parameters.A two space-based manipulator system was simulated to verify the proposed control scheme.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2011年第3期577-582,共6页
Journal of System Simulation
基金
国家自然科学基金(11072061
10672040)
福建省自然科学基金(2010J01003)
