机械科学与技术2017，Vol.36Issue(7)：1005-1010,6.DOI:10.13433/j.cnki.1003-8728.2017.0704
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
Dynamics and Improved Singular Perturbation Control of Flexible-base and Flexible-joint Space Manipulator
摘要
Abstract
The flexibilities of base and joint are described by a linear extension-compression spring and a linear torsion spring,respectively.The dynamic model of flexible-base and flexible-joint space manipulator with an attitude-controlled base is established with the linear momentum conservation principle and the second Lagrange modeling method.The flexibility compensating concept is integrated into the singular perturbation technique,and then the slow subsystem which describes the rigid motion of the system and the fast subsystem which describes the base and the flexible motions of joints are derived.Moreover,an improved singular perturbation control scheme consisting of a slow control for coordinated motion and an optimal control based on a high-order fast state observer is presented.Comparing with the traditional singular perturbation scheme,the improved control scheme can avoid the real-time measurement and feedback of high-order fast states of the system effectively,and it is more suitable for controlling the flexible-base and flexible-joint space manipulator with strong joint flexibility.The simulation results indicate that the proposed improved control scheme can track the desired trajectory accurately and suppress the vibration of the base and joints effectively.关键词
空间机械臂/柔性基/柔性关节/动力学/奇异摄动控制Key words
space manipulator/flexible-base/flexible-joint/dynamics/singular perturbation control分类
信息技术与安全科学引用本文复制引用
陈志勇,张婷婷..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[J].机械科学与技术,2017,36(7):1005-1010,6.基金项目
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)及福州大学科技发展基金项目(2013-XY-13)资助 （11502052,11372073）
