力学与实践 ›› 2014, Vol. 36 ›› Issue (5): 598-603.DOI: 10.6052/1000-0879-13-530

• 应用研究 • 上一篇    下一篇

基座弹性影响下空间机械臂的轨迹跟踪控制及弹性振动主动抑制

元波, 陈力   

  1. 福州大学机械工程及自动化学院, 福州 350108
  • 收稿日期:2013-12-18 修回日期:2014-03-04 出版日期:2014-10-15 发布日期:2014-11-13
  • 通讯作者: 元波,E-mail:bobby19@126.com
  • 基金资助:

    国家自然科学基金(11372073,11072061)和福建省自然科学基金(2010J01003)资助项目.

TRAJECTORY TRACKING CONTROL AND VIBRATION SUPPRESSION OF SPACE-BASED ROBOT WITH ELASTIC FOUNDATION

YUAN Bo, CHEN Li   

  1. College of Mechanical Engineering, Fuzhou University, Fuzhou 350108, China
  • Received:2013-12-18 Revised:2014-03-04 Online:2014-10-15 Published:2014-11-13

摘要:

讨论了基座存在弹性情况下,载体位置无控、姿态受控的漂浮基空间机械臂惯性空间轨迹跟踪控制及基座弹性振动主动抑制问题。由系统位置几何关系及动量守恒关系,建立了系统运动Jacobi 关系;之后利用拉格朗日方法并结合系统动量守恒关系建立了系统动力学方程。基于奇异摄动理论的两种时间尺度假设,将该方程分解为描写系统刚性运动的慢变子系统与描写系统弹性振动的快变子系统。对慢变子系统设计了基于计算力矩法的轨迹跟踪控制器;对于快变子系统则设计了线性二次最优控制方案。数值仿真证实了提出的控制方法的有效性。

关键词:

漂浮基空间机械臂|基座弹性影响|奇异摄动法|轨迹跟踪控制|弹性振动主动抑制

Abstract:

The trajectory tracking control and the vibration suppression of a free floating space-based manip-ulator with elastic base are discussed in this paper. According to the geometric feature and the momentum conservation, the generalized Jacobian matrix is derived, And the Lagrangian method and the momentum con-servation are adopted in building the dynamic equations. Based on the results and under the assumption of two kinds of time scale, a singular perturbation model of the free floating space manipulator system is built. The slow-subsystem describes the tracking control of rigid motion while the fast-subsystem describes the vibration of elastic base. The computed torque control of the free floating space-based robot with elastic base is designed for the low-subsystem. The linear-quadratic optimal control is designed for the fast-subsystem. The simulation results show that the proposed control scheme is feasible for the tracking control and the vibration suppression.

Key words:

free floating space{based manipulator|elastic base|singular perturbation|trajectory tracking control|vibration suppression

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