高技术通讯2016，Vol.26Issue(6)：567-576,10.DOI:10.3772/j.issn.1002-0470.2016.06.007
柔性关节空间机械臂奇异摄动自抗扰控制仿真研究
Simulation study of the singular perturbation based active disturbance rejection control for flexible joint space manipulators
摘要
Abstract
A singular perturbation based active disturbance rejection control method considering friction, nonlinear joint stiffness and external disturbance was proposed for control of flexible joint manipulators under different gravity envi-ronments.Firstly, the dynamic model of flexible joint manipulators under the gravity environment and that under the microgravity environment were established.Then, the system model was divided into the fast subsystem and the slow subsystem with the singular perturbation method, and the speed feedback control law was designed to suppress the vibration of flexible joints for the fast subsystem while the active disturbance rejection controller ( ADRC) with a feedforward compensation was designed for the slow subsystem to resist the internal and external disturbance.Al-so, the system stability was analyzed.Finally, the designed controller was verified by simulation and was compared with other control methods.The simulation results show that with the designed controller, the good performance in trajectory tracking and vibration suppression both on the ground and in the space can be achieved, and the internal and external disturbance can be resisted, making the system robust.关键词
空间机械臂/柔性关节/重力/奇异摄动/自抗扰控制Key words
space manipulator/flexible-joint/gravity/singular perturbation/active disturbance rejection control引用本文复制引用
刘福才,李倩,刘林..柔性关节空间机械臂奇异摄动自抗扰控制仿真研究[J].高技术通讯,2016,26(6):567-576,10.基金项目
863计划(2012AA),国家自然科学基金青年基金项目(51605415)和河北省自然科学基金(F2015203362, F2016203494)资助项目. （2012AA）
