摘要
空间机械臂需要在空间微重力环境下服役,但是装配、调试与控制器设计、验证都需要在地面进行,设计好的控制器即使在地面调试结果理想,在空间微重力环境下应用时仍达不到良好的精度和效果。由于关节铰间间隙的存在不可避免导致空间机械臂精度和可靠性降低。针对这一问题,本文构造了分数阶终端滑模控制器(FOTSMC),使得含铰间间隙空间机械臂在不改变控制器参数的前提下,可以适应不同重力环境。同时利用李亚普诺夫稳定性定理可以保证系统的稳定性,并通过仿真实验验证了该控制策略可以有效地抑制外部扰动和间隙带来的非线性内部扰动,使得系统可以对期望轨迹进行准确快速跟踪。
Space robot arm needs to be served under microgravity conditions in space, but the assembly and commissioning of space robot arm as well as the design and verification of controller need to be carried out under gravity environment. Therefore, even though the space robot arm works very well on the ground, the space robot arm is used under microgravity environment. At the same time, it is likely to cause end track deviation due to the existence of joint clearance, the accuracy and reliability of the space robot arm will be reduced further. To solve this problem, fractional orders terminal sliding mode control (FOTSMC) is designed in this paper, which enable the space manipulator with joint clearance to adapt to different gravity conditions without changing control parameters. And the Lyapunov stability theorem is employed to guarantee the stability of the system. The simulation results have shown that this control strategy can effectively suppress external disturbances and the nonlinear internal disturbance caused by the clearance, so that the system can track the desired trajectory accurately and quickly.
作者
刘福才
夏威
兰会
秦利
侯甜甜
Liu Fucai;Xia Wei;Lan Hui;Qin Li;Hou Tiantian(Industrial Computer Control Engineering , Yanshan University, Key Lab of Hebei Province, Qinhuangdao 066004;Haibin College Electronic Information and Control Engineering, Beijing Jiaotong University, Cangzhou 061100)
出处
《高技术通讯》
EI
CAS
北大核心
2018年第11期945-953,共9页
Chinese High Technology Letters
基金
863计划(2013AA)
国家自然科学基金青年基金(51605415)
河北省自然科学基金(F2015203362
F2016203494)资助项目
关键词
空间机械臂
重力环境
铰间间隙
分数阶
终端滑模
space robot arm
gravity environment
joint clearance
fractional order
terminal sliding mode
