Fuzzy robust sliding mode buffeting reduction motion control method for double-flexibility space manipulator

A space manipulator, motion control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as failure, discounted control effect, and rare problems

Active Publication Date: 2018-04-20
FUZHOU UNIV
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Problems solved by technology

Although the above composite control method that takes into account both the trajectory tracking motion control of the manipulator and the flexible vibration suppression can achieve the expected requirements of the rigid motion control and flexible vibration suppression of the system when the system has a single flexibility (joint flexibility or base flexibility), but for the base, As far ...

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  • Fuzzy robust sliding mode buffeting reduction motion control method for double-flexibility space manipulator
  • Fuzzy robust sliding mode buffeting reduction motion control method for double-flexibility space manipulator
  • Fuzzy robust sliding mode buffeting reduction motion control method for double-flexibility space manipulator

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[0086] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0087] In this implementation, if figure 1 As shown, it is a planar two-link floating dual flexible space manipulator model. m i 、J i W respectively i (i=0,1,2) mass, moment of inertia, m p 、J p W respectively p mass and moment of inertia; k 0 and k im (i=1, 2) are the stiffness coefficients of the linear telescopic spring of the base and the linear torsion spring of the i-th joint, respectively. The inertial parameters of the space manipulator and the initial configuration of the expected trajectory are shown in Table 1 and Table 2. q=[θ 0 ,θ 1 ,θ 2 ] T is the column vector composed of the attitude angle of the system base and the rotation angle of the two connecting rods, θ m =[θ 1m ,θ 2m ] T is the column vector composed of the drive motor rotation angle at the flexible joint, x′ is the base along x 0 The amount of li...

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Abstract

The invention relates to a fuzzy robust sliding mode buffeting reduction motion control method for a double-flexibility space manipulator. The method is combined by a slowly changing sub-controller and a quickly changing sub-controller which can be independently designed based on a flexibility compensation singular perturbation model of the double-flexibility space manipulator. The slowly changingsub-controller comprises a type of exponential reaching sliding mode control laws and additionally designed fuzzy robust control items, and can realize effective reduction for inherent buffeting of the traditional sliding mode control and accurate tracking for a rigid motion trajectory of the system; and the quickly changing sub-controller is designed by adopting an optimal control theory so as to suppress flexible vibration generated by the system. The fuzzy robust sliding mode buffeting reduction motion control method provided by the invention for the double-flexibility space manipulator keeps very strong robustness for the parameter uncertainty of the system, and rigid and flexible motion control effect of the method also conform to expected control requirements.

Description

technical field [0001] The invention relates to the field of intelligent control and numerical simulation of manipulators, in particular to a fuzzy robust sliding mode shake-cutting motion control method of a double-flexible space manipulator. Background technique [0002] The space manipulator is an important tool for exploring and developing outer space. Its unique space application advantages make it play an important role in various high-risk and complex space missions, which greatly accelerates the pace of human space exploration. Compared with the fixed-base manipulator on the ground, the dynamic model of the floating space manipulator has higher nonlinearity and stronger coupling, and its control problems under various complex working conditions are more difficult. Some literatures point out that in order to obtain higher system control accuracy, it is necessary to fully consider the influence of various inherent flexibility of the system in the study of space manipul...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈志勇张婷婷李振汉王奋勇郑永铭
Owner FUZHOU UNIV
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