| 刘福才,赵文娜,孟玲聪.不同重力环境下空间机械臂切换控制[J].高技术通讯(中文),2020,30(10):1049~1055 |
| 不同重力环境下空间机械臂切换控制 |
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| DOI：doi：10.3772/j.issn.1002-0470.2020.10.007 |
| 中文关键词: 空间机械臂； 微重力； 切换系统； 多Lyapunov函数； PD控制 |
| 英文关键词: space manipulator， microgravity， switching system， multi-Lyapunov function， PD control |
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| 中文摘要: |
| 针对从地面到空间由于重力变化引起的空间机械臂的末端轨迹跟踪问题，提出了一种基于多Lyapunov函数的PD系统切换策略。根据运行环境的不同，将空间机械臂系统分为地面和空间2个子系统，分别设计对应的PD控制器，通过一定的切换规则，完成2个子系统和对应控制器的主动切换，从而实现从地面到空间机械臂期望轨迹的准确跟踪。运用多Lyapunov函数方法证明了该切换系统的稳定性。本文所提的控制算法在传统PD控制的基础上结合了切换控制的思想，通过与单一PD控制的仿真结果相比，体现了这一控制方法的优越性。 |
| 英文摘要: |
| For the problem of trajectory tracking of space manipulator resulting from the change of gravity from ground to space, a PD system switching strategy based on multi-Lyapunov function is proposed. According to different operating environments, the space manipulator system is divided into two subsystems, the ground subsystem and the space subsystem. The corresponding PD controllers are designed respectively. Through certain rules, the switch of two subsystems can be realized autonomously, at the same time, one controller is replaced by the other. In consequence, space manipulator can quickly track the desired trajectory in the two gravity environments. The stability of switching system is proved by means of multi-Lyapunov function method. The proposed control approach combines the theory of switching system and the traditional PD control. Compared with the simulation results of traditional PD controller, the superiority of this control method can be proved. |
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