| 刘福才,刘林,郭根旺.柔性关节空间漂浮机械臂奇异摄动自抗扰控制仿真研究[J].高技术通讯(中文),2020,30(9):928~937 |
| 柔性关节空间漂浮机械臂奇异摄动自抗扰控制仿真研究 |
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| DOI：doi：10.3772/j.issn.1002-0470.2020.09.007 |
| 中文关键词: 空间机械臂； 柔性关节； 自抗扰； 奇异摄动； 自由漂浮 |
| 英文关键词: space manipulator, flexible joint, auto disturbance rejection, singular perturbation, free floating |
| 基金项目: |
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| 中文摘要: |
| 建立了地面重力环境和空间微重力环境自由漂浮2种工况下的柔性关节空间机械臂模型，设计基于奇异摄动的自抗扰控制对机械臂末端轨迹进行控制研究。奇异摄动法可以实现系统降阶，降阶为快变子系统和慢变子系统，再对2个子系统分别进行控制。快变子系统部分的控制器主要由力矩反馈部分组成，慢变子系统的控制部分是非线性自抗扰控制。进行了系统稳定性验证及仿真研究，仿真结果表明本文设计的自抗扰控制器可实现较高精度的轨迹跟踪控制，可以有效抑制关节柔性带来的抖动问题。 |
| 英文摘要: |
| The dynamic models of flexible joint manipulator in the stages of space floating and ground debugging are established, a singular perturbation based auto disturbance rejection control algorithm for the manipulator’s end track tracking control is designed to achieve the manipulator’s end position tracking control. The singular perturbation method is used to divide the higher order system into two lower ones, a fast subsystem and a slow subsystem, and then controllers for them are designed respectively. The controller of the fast subsystem is mainly composed of torque feedback part, and the control part of the slow subsystem is nonlinear auto disturbance rejection control. The control’s stability analysis and simulation veritication are conducted. The simulation results show that the auto disturbance rejection controller designed can achieve high precision trajectory tracking control, and can suppress the jitter problem caused by joint flexibility effectively. |
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