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Flexible space mechanical arm vibration control method and system

A space manipulator, vibration control technology, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve problems such as large static errors, and achieve the effect of ensuring position tracking accuracy

Active Publication Date: 2019-03-08
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the traditional waveform control method will produce a large static error

Method used

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  • Flexible space mechanical arm vibration control method and system
  • Flexible space mechanical arm vibration control method and system
  • Flexible space mechanical arm vibration control method and system

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Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] The specific implementation manners of the present invention will be illustrated below with reference to the accompanying drawings.

[0038] 1. Vibration control method

[0039] Vibration wave control is a new breakthrough control method. This method only needs to know part of the model of the system and does not depend on the whole model, so it is suitable for both simple and complex systems. Its core idea is to regard flexible motion as the superposition of two wave motions in opposite directions, one is defined as the launch wave and the other is defined as the return wave. For a flexible space manipulator whose actuator is a motor, such as figure 1 As shown, its actuator input consists of two parts.

[0040] θ w (t) = θ a (t)+θ b (t)\*MERGEFORMAT(1)

[0041] \*MERGEFORMAT(1) means formula (1), and so on;

[0042] where θ a (t)——launch displacement, whose value is the input expected value θ d half of (t), ie

[0043]

[0044] In equation (1), θ b (t) i...

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Abstract

The invention relates to a flexible space mechanical arm vibration control method. According to the method, return waves are obtained through calculation on the basis of a joint torque, wherein the return waves contain system vibration information; the return waves are superimposed on input; the input is shaped in real time; the shaped input is used for controlling the movement of a mechanical armthrough joint PD control; and therefore, the purpose of vibration suppression can be realized by means of the absorption of the return waves. An exponential function correction term is added to return wave calculation; and the correction term has the characteristic of rapid attenuation, which ensures that the return waves are close to zero after movement is terminated. An existing waveform control method, especially, a return wave calculation method, is improved, and position tracking accuracy is ensured while vibration control is realized; and a flexible space mechanical arm ground test system is constructed so as to verify the above method.

Description

technical field [0001] The invention relates to the field of manipulator control, in particular to a vibration control method and system for a flexible space manipulator. Background technique [0002] The space manipulator is the core equipment for on-orbit assembly and maintenance of spacecraft. However, due to the large operating space and light weight of the space manipulator, the problem of flexibility is more prominent. The flexibility of the manipulator will seriously affect the operation accuracy of the end of the manipulator. Therefore, it is very important for the vibration control of flexible space manipulators. [0003] Most of the previous vibration control methods rely on accurate dynamic models, but when the system has uncertainties or changes, the effect becomes poor. [0004] Waveform control is a newly emerging method to deal with discrete flexible bodies from a new perspective. It regards the movement of the flexible arm as the transmission of waves, and...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 孟得山李亚南王学谦梁斌
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV