摘要
讨论了载体位置、姿态均不受控并具有有界外部扰动的飘浮基柔性两杆空间机械臂振动不主动抑制的全局鲁棒Terminal滑模控制。首先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系统的动力学方程。根据Terminal滑模控制技术,给出了系统的Terminal滑模面,进而提出了系统的Terminal滑模运动控制算法。然后分析了该Terminal滑模控制器控制下系统中的两柔性杆的振动,并对两柔性杆的振动进行了数值仿真。该Terminal滑模控制律消除了惯常滑模控制的到达阶段,从而具有全局鲁棒性与稳定性;同时还保证了输出误差在任意指定有限时间内收敛到零。系统的数值仿真表明该Terminal滑模控制器能够使机械臂关节轨迹快速而稳定地追踪上期望运动轨迹,而系统中两柔性杆件始终存在比较大的柔性振动。该控制方案的显著优点为不需要测量、反馈载体的位置、移动速度、移动加速度,减少了系统的设计、制造、发射、维护费用,提高了系统的可靠性。
A globally robust terminal sliding mode control algorithm was proposed for a free-floating two-flexible-link space manipulator with bounded external disturbances. First appropriate local right handed coordinate frame was made,and the dynamical Lagrange equation was established by the momentum conservation. Based on the terminal sliding mode control technique,the terminal sliding surface was proposed,then the terminal sliding control scheme was developed. Then the vibration of the two flexible links was analyzed and simulated numerically. The proposed control scheme eliminated the reaching phase and guaranteed the global robustness and stability of the closed-loop system.In addition,it was ensured that the tracking errors of the manipulator joints converged to zero in arbitrarily finite time. Numerical simulations were carried out,which showed that the joints tracked the desired trajectories rapidly and link flexible vibrations were still large. The virtue of this control scheme is that the base linear position,and the base linear velocity,the base linear acceleration need not to be measured. Then the cost of design,manufacture,emission,maintenance is reduced whilst reliabilities are enhanced.
出处
《载人航天》
CSCD
2016年第4期512-519,共8页
Manned Spaceflight
基金
国家自然科学基金(11372073
11072061)
福建省自然科学基金(2016J01228)
关键词
飘浮基柔性两杆空间机械臂
TERMINAL滑模控制
全局鲁棒
振动分析
外部扰动
free-floating two-flexible-link space manipulator
terminal sliding mode control
globally robust
vibration analysis
external disturbance
