柔性基、柔性关节空间机械臂的动力学与改进奇异摄动控制

发布时间：2018-02-12 23:49

本文关键词： 空间机械臂柔性基柔性关节动力学奇异摄动控制　出处：《机械科学与技术》2017年07期 　论文类型：期刊论文

【摘要】：采用线性伸缩弹簧、线性扭转弹簧来分别描述基座及关节柔性,并在此基础上经由线动量守恒原理、拉格朗日第二类建模方法,建立了姿态受控柔性基、柔性关节空间机械臂的动力学模型。将柔性补偿思想与奇异摄动理论相融合,推导了可分别表示系统刚性运动、基座与关节柔性运动的慢、快变子系统,并提出一种由协调运动慢变控制和基于高阶快变状态观测器的最优控制所组成的改进奇异摄动控制方案。与传统奇异摄动控制方案相比,所提改进控制方案可有效避免对系统高阶快变状态量进行实时地测量和反馈,且可适于具有较大关节柔性的柔性基、柔性关节空间机械臂的控制。仿真实验结果表明了所提方案在轨迹跟踪控制、基座与关节柔性振动抑制上的有效性。
[Abstract]:Based on the linear expansion spring and the linear torsion spring to describe the flexibility of the base and joint respectively, the attitude controlled flexible base is established by the Lagrangian second type modeling method based on the principle of conservation of linear momentum. The dynamic model of flexible joint space manipulator. The flexible compensation theory is combined with the singular perturbation theory, and the system rigid motion, the slow and fast changing subsystem of the base and joint flexible motion are derived, respectively, which can represent the rigid motion of the system and the flexible motion of the joint. An improved singularly perturbed control scheme consisting of coordinated slow variable motion control and optimal control based on high order fast variable state observer is proposed, which is compared with the traditional singular perturbation control scheme. The proposed improved control scheme can effectively avoid the real-time measurement and feedback of the high-order fast-varying state variables of the system, and is suitable for flexible bases with large joint flexibility. Simulation results show that the proposed scheme is effective in trajectory tracking control and flexible vibration suppression of base and joint.
【作者单位】：福州大学机械工程及自动化学院;福建省高端装备制造协同创新中心;
【基金】：国家自然科学基金项目(11502052,11372073) 福建省中青年教师教育科研项目(JA14045) 福建省高端装备制造协同创新中心资助项目(00205006103) 福州大学科技发展基金项目(2013-XY-13)资助
【分类号】：TP241

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