宇航学报

宇航学报 ›› 2013, Vol. 34 ›› Issue (12): 1599-1604.doi: 10.3873/j.issn.1000-1328.2013.12.009

• 制导、导航与控制 • 上一篇    下一篇

带有柔性补偿的柔性关节空间机器人的增广自适应控制及关节振动抑制

陈志勇，陈力   

  1. 福州大学机械工程及自动化学院，福州 350108
  • 收稿日期:2013-01-14 修回日期:2013-05-16 出版日期:2013-12-15 发布日期:2013-12-25
  • 基金资助:

    国家自然科学基金（11072061, 10672040）；福建省自然科学基金（2010J01003）；福州大学科技发展基金(2013-XY-13)；福州大学人才基金(XRC-1232)

Augmented Adaptive Control and Joint Vibration Suppression for Flexible Joint Space Robot with Flexibility Compensation

CHEN Zhi yong,  CHEN Li   

  1. College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China
  • Received:2013-01-14 Revised:2013-05-16 Online:2013-12-15 Published:2013-12-25

PDF

739

摘要：

研究漂浮基柔性关节空间机器人操作未知载荷的关节运动控制及柔性振动抑制问题。结合系统线动量守恒关系及拉格朗日方法，建立空间机器人欠驱动形式的系统动力学模型。为便于其控制系统的设计，运用关节柔性补偿技术及奇异摄动理论对系统进行快、慢变子系统分解。针对快变子系统，提出力矩微分反馈控制器来抑制机械臂各关节的柔性振动；针对慢变子系统，设计基于增广法的自适应控制策略以实现系统在载荷参数未知情况下的关节运动轨迹渐近追踪。提出的控制方法由于引入柔性补偿技术，等效提高了关节刚度，可适用于具有较小关节刚度的空间机器人系统的控制；利用自适应控制器来实时补偿未知载荷参数的影响，使系统能够精确地执行所指定的关节运动任务。仿真结果校验了方法的有效性。
 

关键词: 柔性关节空间机器人, 柔性补偿, 奇异摄动, 增广法, 自适应控制

Abstract:

The problems of joint motion control and flexible vibration suppression of a flexible joint space based robot for manipulating an unknown payload are studied. Based on the system linear momentum conservation and the Lagrange method, the under actuated dynamics model of the space robot is established. For convenience of the design of its control system, the system is divided into both fast and slow subsystems by using the joint flexibility compensation technique and the singular perturbation theory. A torque differential feedback controller is proposed for the fast subsystem to suppress the joints’ flexible vibration, meanwhile an adaptive control scheme based on the augmentation approach is designed for the slow subsystem to realize the joint trajectory asymptotic tracking under the condition of unknown payload parameters. Because of introduction of the flexibility compensation technique, the presented control scheme can equivalently increase the joint stiffness, and it is suitable to control the space robot systems with low joint stiffness. Moreover, the effect of unknown parameters is real time compensated by its adaptive controller, and then the specified joint motion task is achieved precisely. The effectiveness of the scheme is verified by the corresponding simulation results.

Key words: Flexible joint space robot, Flexibility compensation, Singular perturbation, Augmentation approach, Adaptive control

中图分类号: