Robust self-adaptive sliding-mode control method for flexible-hinge space station manipulator

Abstract

The invention discloses a robust self-adaptive sliding-mode control method for a flexible-hinge space station manipulator. The robust self-adaptive sliding-mode control method comprises the followingsteps: first, through the utilization of Lagrangian methods of the second kind and through the combination with the system momentum and momentum moment conservation relation, analyzing and establishing a system dynamics model of a flexible-hinge space station manipulator system, wherein the carrier position and attitude are both uncontrollable; next, for the actual situation that the flexibility of each joint hinge is relatively high in the actual application of the space station manipulator, exporting a singular perturbation mathematical model applicable to the control system design through the introduction of a joint flexibility compensation controller and through the combination with double time scale decomposition of singular perturbation theory; and then, through the utilization of the singular perturbation mathematical model, decomposing the flexible-hinge space station manipulator system into a fast subsystem and a slow subsystem which are independent of each other, designing the robust self-adaptive sliding-mode control for the slow subsystem, and designing a moment differential feedback controller for the fast subsystem. Consequently, the control purposes of not only eliminating the negative impact of the flexibility of a flexible hinge on the positioning precision and the stability of the space station manipulator but also effectively overcoming the buffeting defect in the conventional sliding-mode control can be fulfilled.

Description

technical field [0001] The invention belongs to the technical field of space station manipulator control. Specifically, it relates to a robust adaptive sliding mode control method for a manipulator of a flexible hinge space station. Background technique [0002] The robotic arm of the space station mainly works in the microgravity space environment, and can better assist (or replace) astronauts to complete various extremely dangerous space tasks, and has become an important carrier tool for human deep space exploration. At present, all countries in the world have invested a lot of manpower, material resources and financial resources in the research of space station robotic arms, and have achieved a lot of scientific research results. However, looking at the above research results, it is not difficult to find that most of the work is limited to the research of rigid joint space robots, and there are few studies on flexible joint space station manipulators. Flexibility trend...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robust self-adaptive sliding mode control method for the space station manipulator with flexible hinges, so as to eliminate the negative impact of flexible hinges on the positioning accuracy and stability of the space station manipulator and effectively The control objective

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