中南大学学报（自然科学版）2023，Vol.54Issue(12)：4687-4698,12.DOI:10.11817/j.issn.1672-7207.2023.12.008
模糊PI控制器与干扰观测器相结合的空间柔性机械臂的转动控制策略
Rotation control strategy for a space-flexible robotic arm combining fuzzy PI controller and disturbance observer
摘要
Abstract
In order to reduce the systematic error of space-flexible robotic arms(SFRA)by external disturbances and to improve the control accuracy of the system,a rotation control strategy combining fuzzy PI controller and disturbance observer was proposed.Firstly,the initial dynamics model of the SFRA containing disturbance torque was established by using the assumed mode method and the Lagrange principle.Secondly,two simplified dynamics models that ignore two-dimensional deformation and ignore non-linear terms were proposed,respectively,and the modeling accuracy of the two simplified models was compared by simulation analysis.Thirdly,a fuzzy PI controller was designed based on the pole placement method and introducing fuzzy rules,and a disturbance observer was designed based on the nominal model of the system.Finally,the effectiveness of the rotation control strategy was verified by simulation analysis and ground physical prototype experiment.The results show that the simplified model ignoring the nonlinear terms has similar modeling accuracy compared with the initial model,which greatly reduces the computational difficulty and can replace the initial model for the design of the control system.The rotational control strategy can adjust the controller parameters in real time,observe and compensate for the system error caused by the disturbance torque,and improve the control accuracy of the system effectively.关键词
空间柔性机械臂/转动控制策略/简化动力学模型/模糊PI控制器Key words
space-flexible robotic arms/rotation control strategy/simplified dynamics model/fuzzy PI controller分类
机械制造引用本文复制引用
上官朝伟,李小彭,李泉,尹猛..模糊PI控制器与干扰观测器相结合的空间柔性机械臂的转动控制策略[J].中南大学学报（自然科学版）,2023,54(12):4687-4698,12.基金项目
辽宁省应用基础研究计划项目(2023JH2/101300159) （2023JH2/101300159）
宁夏回族自治区自然科学基金资助项目(2023AACO3371)(Project(2023JH2/101300159)supported by the Applied Basic Research Program of Liaoning Province （2023AACO3371）
Project(2023AACO3371)supported by Natural Science Foundation of Ningxia Hui Autonomous Region) （2023AACO3371）
