不同重力环境下含铰间间隙空间机械臂FOTSMC轨迹跟踪控制
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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 commissio-ning of space robot arm as well as the design and verification of controller need to be carried out under gravity envi-ronment. Therefore,even though the space robot arm works very well on the ground,the space robot arm is usedunder microgravity environment. At the same time,it is likely to cause end track deviation due to the existence ofjoint 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 ma-nipulator with joint clearance to adapt to different gravity conditions without changing control parameters. And theLyapunov stability theorem is employed to guarantee the stability of the system. The simulation results have shownthat this control strategy can effectively suppress external disturbances and the nonlinear internal disturbance causedby the clearance,so that the system can track the desired trajectory accurately and quickly.
Space robot arm needs to be served under microgravity conditions in space,but the assembly and commissio-ning of space robot arm as well as the design and verification of controller need to be carried out under gravity envi-ronment. Therefore,even though the space robot arm works very well on the ground,the space robot arm is usedunder microgravity environment. At the same time,it is likely to cause end track deviation due to the existence ofjoint 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 ma-nipulator with joint clearance to adapt to different gravity conditions without changing control parameters. And theLyapunov stability theorem is employed to guarantee the stability of the system. The simulation results have shownthat this control strategy can effectively suppress external disturbances and the nonlinear internal disturbance causedby the clearance,so that the system can track the desired trajectory accurately and quickly.
引文
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[3] Thornton E,Foster R. Dynamic response of rapidly heat-ed space structures[C]. In:Proceedings of the 33rdStructures,Structural Dynamics and Materials Confer-ence,Dallas,USA,1992. 1185-1211
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[15]王锋,陈凯,陈小平.一种含间隙机械臂的在线校准方法[J].机器人,2013,35(5):521-526
[16] Yang Z,Zheng F B. Dynamics analysis of space robotmanipulator with joint clearance[J]. Acta Astronautica,2011,68(7-8):1147-1155
[17]孙东阳,陈国平,王铁成.谐波齿轮传动的含间隙机构的动力学分析[J].振动与冲击,2014(23):160-164
[18]刘志全,危清清,王耀兵.空间机械臂关节精细动力学模型的建立及关节力矩控制[J].宇航学报,2014,35(6):663-668
[19]刘福才,贾亚飞,刘爽爽.气动加载系统的积分型线性自抗扰控制器[J].控制理论与应用,2015,32(8):1090-1097
[20]秦利.考虑重力效应的空间机器人系统建模与控制研究[D].秦皇岛:燕山大学电气工程学院,2014
[21]刘福才,侯甜甜,秦利,等.考虑铰间间隙和重力影响的空间机械臂轨迹跟踪控制[J].控制理论与应用,2015,32(5):665-673
[22] Xiong S,Wang W,Liu X,et al. A novel extended stateobserver[J]. Isa Transactions,2015,58:309-317
[23] Chang Y H,Wu C I,Chen H C,et al. Fractional orderinteger sliding-mode flux observer for direct field-orientedinduction machines[J]. International Journal of Innova-tive Computing Information&Control Ijicic,2012,8(7):4851-4868
[24] Flores P,Ambrósio J,Claro J C P,et al. A study on dy-namics of mechanical systems including joints with clear-ance and lubrication[J]. Mechanism and Machine Theo-ry,2006,41(3):247-261
[2]王文魁.空间机构运动行为模拟概念研究[J].载人航天,2013,19(5):59-66
[3] Thornton E,Foster R. Dynamic response of rapidly heat-ed space structures[C]. In:Proceedings of the 33rdStructures,Structural Dynamics and Materials Confer-ence,Dallas,USA,1992. 1185-1211
[4]马兴瑞,王本利,苟兴宇.航天器动力学:若干问题进展及应用[M].北京:科学出版社,2001
[5]阎绍泽,陈鹿民,季林红,等.含间隙铰的机械多体系统动力学模型[J].振动工程学报,2003,16(3):290-294
[6] Obara S,Sato M. Numerical investigation of influence ofgravity on the performance of ball bearings assembled in aspace device[C]. In:Proceedings of the 2nd World Tri-bology Congress,Vienna,Austria,2001
[7] Flores-Abad A,Ma O,Pham K,et al. A review of spacerobotics technologies for on-orbit servicing[J]. Progressin Aerospace Sciences,2014,68(8):1-26
[8]李新刚,裴胜伟.国外航天器在轨捕获技术综述[J].航天器工程,2013(01):113-119
[9] Cruijssen H J,Ellenborek M,Henderson M. The Euro-pean robotic arm:a high performance mechanism finallyon its way to space[C]. In:Proceedings of the 42ndAerospace Meschanism Symposium, Baltimore, USA,2014. 319-315
[10] Huang P,Wang M,Meng Z,et al. Attitude takeovercontrol for post-capture of target spacecraft using space ro-bot[J]. Aerospace Science&Technology,2016,51:171-180
[11]刘福才,高娟娟,王跃灵.重力对空间机械臂运动控制的影响[J].高技术通讯,2012,22(9):944-950
[12]刘福才,侯甜甜,秦利,等.不同重力环境下间隙对机械臂末端轨迹的影响[J].高技术通讯,2014(10):1044-1052
[13] Crawley E F,Barlow M S,van Marthinus C,et al.Measurement of the modal parameters of a space structurein zero gravity[J]. Journal of Guidance,Control,andDynamics,1995,18(3):385-394
[14] Matsunaga S. Micro-gravity experiments of space robotiesand space-used mechanisms at Tokyo institute of technol-ogy[J]. Journal of the Japan Society of Microgravity Ap-plication,2002,19:101-105
[15]王锋,陈凯,陈小平.一种含间隙机械臂的在线校准方法[J].机器人,2013,35(5):521-526
[16] Yang Z,Zheng F B. Dynamics analysis of space robotmanipulator with joint clearance[J]. Acta Astronautica,2011,68(7-8):1147-1155
[17]孙东阳,陈国平,王铁成.谐波齿轮传动的含间隙机构的动力学分析[J].振动与冲击,2014(23):160-164
[18]刘志全,危清清,王耀兵.空间机械臂关节精细动力学模型的建立及关节力矩控制[J].宇航学报,2014,35(6):663-668
[19]刘福才,贾亚飞,刘爽爽.气动加载系统的积分型线性自抗扰控制器[J].控制理论与应用,2015,32(8):1090-1097
[20]秦利.考虑重力效应的空间机器人系统建模与控制研究[D].秦皇岛:燕山大学电气工程学院,2014
[21]刘福才,侯甜甜,秦利,等.考虑铰间间隙和重力影响的空间机械臂轨迹跟踪控制[J].控制理论与应用,2015,32(5):665-673
[22] Xiong S,Wang W,Liu X,et al. A novel extended stateobserver[J]. Isa Transactions,2015,58:309-317
[23] Chang Y H,Wu C I,Chen H C,et al. Fractional orderinteger sliding-mode flux observer for direct field-orientedinduction machines[J]. International Journal of Innova-tive Computing Information&Control Ijicic,2012,8(7):4851-4868
[24] Flores P,Ambrósio J,Claro J C P,et al. A study on dy-namics of mechanical systems including joints with clear-ance and lubrication[J]. Mechanism and Machine Theo-ry,2006,41(3):247-261