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讨论了自由浮动柔性冗余度空间机械臂的姿态稳定控制问题.采用假设模态法对柔性连杆的变形进行近似描述,忽略高阶弹性振动模态,然后利用拉格朗日法建立空间柔性冗余度机械臂系统的动力学模型.在此模型基础上利用奇异摄动法把系统分解为快慢2个子系统,设计慢变子系统的模糊滑模控制器,以保证轨迹误差的渐近跟踪.对快变子系统则采用最优控制对其进行弹性抑振控制,从而实现末端姿态的稳定控制,并通过数值仿真验证了该方法的有效性.
The problem of attitude stability control of a space manipulator with free floating flexible redundancy is discussed.The assumed mode method is used to approximate the deformation of the flexible connecting rod and the high order elastic mode of vibration is ignored and then Lagrange method is used to establish the spatial flexibility On the basis of this model, the system is decomposed into two subsystems of fast and slow by using singular perturbation method. The fuzzy sliding mode controller of slowly variable subsystem is designed to ensure asymptotic tracking of trajectory error For the fast sub-system, the optimal control is used to control the vibration of the fast sub-system, so as to realize the stable control of the terminal attitude. Numerical simulation shows the effectiveness of the method.