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A Fuzzy Robust Sliding Mode Shaking Motion Control Method for Dual Flexible Space Manipulators

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

Active Publication Date: 2021-01-29
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 as the space manipulator with flexible joints is concerned, its control effect is greatly reduced, and problems such as control failure and failure may even occur.
[0005] At present, although the dynamic control methods of space manipulators under the influence of base and joint dual flexibility have appeared, they are rare, especially for the working conditions where the system model is uncertain.

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  • A Fuzzy Robust Sliding Mode Shaking Motion Control Method for Dual Flexible Space Manipulators
  • A Fuzzy Robust Sliding Mode Shaking Motion Control Method for Dual Flexible Space Manipulators
  • A Fuzzy Robust Sliding Mode Shaking Motion Control Method for Dual Flexible Space Manipulators

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Embodiment Construction

[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 shake-cutting motion control method of a dual-flexible space manipulator. The method is based on a flexible compensation singular perturbation model of a double-flexible space manipulator. composed of devices. The slow variable sub-controller includes a class of exponential approaching sliding mode control law and additionally designed fuzzy robust control items, which can effectively weaken the inherent chattering of traditional sliding mode control and accurately track the rigid motion trajectory of the system; the fast variable sub-controller The controller is designed using the optimal control theory to suppress the flexible vibration generated by the system. A fuzzy robust sliding mode motion control method for dual-flexible space manipulators proposed by the present invention maintains strong robustness to system parameter uncertainties, and its rigid and flexible motion control effects also meet the 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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Patent Type & Authority Patents(China)
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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