中国机械工程Issue(19)：2657-2663,7.DOI:10.3969/j.issn.1004-132X.2013.19.020
漂浮基柔性关节-柔性臂空间机器人运动非线性滑模控制及双重弹性振动主动抑制
Nonlinear Sliding Mode Motion Control and Double Elastic Vibration Active Suppression of Free-floating Flexible-joint and Flexible-link Space Robot
摘要
Abstract
A dynamics modeling,motion controller design and j oint-link double flexible vibration suppression problem of free-floating flexible-link and flexible-j oint space robot were discussed. The dynamic equations of the system were established according to system's momentum conserva-tion,angular momentum conservation and Lagrange-assumed mode method.Based on singular per-turbation method,the system was decomposed into three mutual independent subsystems:a “rigid-joint and rigid-link”slow subsystem represented the rigid-joint and rigid-link system's rigid mo-tion,a “flexible-joint and rigid-link”fast subsystem represented the system's elastic vibration caused by flexible-joint and a “rigid-joint and flexible-link”fast subsystem represented the sys-tem's elastic vibration caused by flexible-link.Then three controllers were designed for the three subsystems respectively.A nonlinear sliding mode controller was designed to realize the asymptotic tracking of the system's motion traj ectory.A feedback controller was used to suppress the flexible vi-bration caused by flexible-joint based on the velocity difference between the link and the motor.A linear quadric regulator was used to suppress the flexible vibration caused by flexible-link.There-fore,the system's total controller was a composite of the three controllers.The simulation proves the proposed compound controller can guarantee the control system's accuracy and suppress the elastic vi-bration caused by flexible-j oint and flexible-link effectively.关键词
漂浮基空间机器人/柔性关节/柔性臂/奇异摄动/滑模Key words
free-floating space robot/flexible-j oint/flexible-link/singular perturbation/slid-ing mode分类
信息技术与安全科学引用本文复制引用
谢立敏,陈力..漂浮基柔性关节-柔性臂空间机器人运动非线性滑模控制及双重弹性振动主动抑制[J].中国机械工程,2013,(19):2657-2663,7.基金项目
国家自然科学基金资助项目(11072061,10672040) （11072061,10672040）
福建省自然科学基金资助项目(2010J01003) （2010J01003）
