柔性基、柔性关节空间机械臂的运动混合控制
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摘要
为解决具有不确定性柔性基、柔性关节空间机械臂的控制问题,提出一种自适应鲁棒终端滑模控制与自适应最优控制相结合的混合控制方案。首先,利用奇异摄动法将系统降阶为慢变子系统及快变子系统;其次,针对慢变系统设计一种由等效控制、鲁棒控制及自适应调节算法组成的轨迹跟踪自适应鲁棒终端滑模控制方案;之后,针对快变系统设计一类基于自适应状态观测的振动最优控制策略。仿真结果表明所提方案在系统刚性、柔性运动控制上的有效性。
The control problems of a flexible-base and flexible-joint space manipulator with uncertainties were addressed, and a mixed control scheme was proposed based on adaptive robust terminal sliding mode control and adaptive optimal vibration control. Firstly, the system was reduced to a slow subsystem and a fast subsystem by singular perturbation method. Secondly, a trajectory-tracking adaptive robust terminal sliding mode control scheme, including an equivalent control, a robust control, and an adaptive adjusting algorithm, was presented for the slow subsystems. And then, a vibration optimal control strategy was proposed based on adaptive state observation for the fast subsystems. The simulation results show the validity of the proposed scheme in rigid and flexible motion controls of the system.
The control problems of a flexible-base and flexible-joint space manipulator with uncertainties were addressed, and a mixed control scheme was proposed based on adaptive robust terminal sliding mode control and adaptive optimal vibration control. Firstly, the system was reduced to a slow subsystem and a fast subsystem by singular perturbation method. Secondly, a trajectory-tracking adaptive robust terminal sliding mode control scheme, including an equivalent control, a robust control, and an adaptive adjusting algorithm, was presented for the slow subsystems. And then, a vibration optimal control strategy was proposed based on adaptive state observation for the fast subsystems. The simulation results show the validity of the proposed scheme in rigid and flexible motion controls of the system.
引文
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[2] 戈新生,陈凯捷.自由漂浮空间机器人路径规划的Legendre伪谱法[J].力学学报,2016,48(4):823- 831.GE Xinsheng,CHEN Kaijie.Path Planning of Free Floating Space Robot Using Legendre Pseudospectral Method[J].Chinese Journal of Theoretical and Applied Mechanics,2016,48(4):823-831.
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[4] KHALOOZADEH H,HOMAEJNEJAD M R.Real-time Regulated Sliding Mode Controller Design of Multiple Manipulator Space Free-flying Robot[J].Journal of Mechanical Science and Technology,2010,24(6):337-1351.
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[6] 王从庆,吴鹏飞,周鑫.基于最小关节力矩优化的自由浮动空间刚柔耦合机械臂混沌动力学建模与控制[J].物理学报,2012,61(23):81-88WANG Congqing,WU Pengfei,ZHOU Xin.Control and Modeling of Chaotic Dynamics for a Free-floating Rigid-flexible Coupling Space Manipulator Based on Minimal Joint Torque's Optimization[J].Acta Physica Sinica,2012,61(23):81-88.
[7] 张丽娇,陈力.全柔性杆空间机械臂动力学与运动L2增益抗扰鲁棒反演控制[J].中国机械工程,2017,28(8):952-957.ZHANG Lijiao,CHEN Li.Dynamics Model and Anti-disturbance L2 Gain Robust Backstepping Control for Space Manipulators with Fully Flexible Links[J].China Mechanical Engineering,2017,28(8):952-957.
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[9] 陈志勇,陈力.漂浮基带柔性铰空间机器人的动力学建模及奇异摄动控制研究[J].中国机械工程,2011,22(18):2151-2155.CHEN Zhiyong,CHEN Li.Study on Dynamics Modeling and Singular Perturbation Control of Free-floating Space Robot with Flexible Joints[J].China Mechanical Engineering,2011,22(18):2151- 2155.
[10] YU X Y,CHEN L.Observer-based Two-time Scale Robust Control of Free-flying Flexible-joint Space Manipulators with External Disturbances[J].Robotica,2017,35:2201-2217.
[11] NENCHEV D N,YOSHIDA K,UCHIYAMA M.Reaction Null Space Control of Free-floating and Elastic Base Robots[J].Journal of the Brazilian Society of Mechanical Sciences,1999,21(2):175-184.
[12] MENG D S,LIANG B,XU W F.On the Autonomous Target Capturing of Flexible-base Space Robotic System[C]//Proceedings of the 13th International Conference on Control Automation Robotics and Vision.Singapore:IEEE,2014:1894-1899.
[13] 梁捷,陈力,梁武林,等.基座弹性影响下空间站柔性关节机械臂的鲁棒自适应滑模控制及双重弹性振动主动抑制[J].载人航天,2016,22(6):788-796.LIANG Jie,CHEN Li,LIANG Wulin,et al.Robust Adaptive Sliding Mode Control and Active Dual Vibration Suppression in Flexible Joint Manipulator of Space Station with Elastic Foundation[J].Manned Spaceflight,2016,22(6):788-796.
[14] CHEN Z Y,ZHANG T T,LI Z H.Hybrid Control Scheme Consisting of Adaptive and Optimal Controllers for Flexible-base Flexible-joint Space Manipulator with Uncertain Parameters[C]// Proceedings of the 9th International Conference on Intelligent Human-machine Systems and Cybernetics.Hangzhou:IEEE,2017:341-345.
[15] MAN Z H,YU X.Adaptive Terminal Sliding Mode Tracking Control for Rigid Robotic Manipulators with Uncertain Dynamics[J].JSME International Journal,Series C,1997,40(3):493-502.
[16] MEZGHANI B R N,DAMAK T.Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators [J].International Journal of Automation and Computing,2011,8(2):215-220.
[17] WANG Y M,FENG Y,YU X H.Fuzzy Terminal Sliding Mode Control of Two-link Flexible Manipulator[C]//Proceeding of the 34th Annual Conference of IEEE on Industrial Electronics.Orlando:IEEE,2008:1620-1625.
[2] 戈新生,陈凯捷.自由漂浮空间机器人路径规划的Legendre伪谱法[J].力学学报,2016,48(4):823- 831.GE Xinsheng,CHEN Kaijie.Path Planning of Free Floating Space Robot Using Legendre Pseudospectral Method[J].Chinese Journal of Theoretical and Applied Mechanics,2016,48(4):823-831.
[3] JAYAKODY H,SHI L L,KATUPITIYA J,et al.Robust Adaptive Coordination Controller for a Spacecraft Equipped with a Robotic Manipulator[J].Journal of Guidance,Control,and Dynamics,2016,39(12):2699-2711.
[4] KHALOOZADEH H,HOMAEJNEJAD M R.Real-time Regulated Sliding Mode Controller Design of Multiple Manipulator Space Free-flying Robot[J].Journal of Mechanical Science and Technology,2010,24(6):337-1351.
[5] SABATINI M,GASBARRI P,MONTI R,et al.Vibration Control of a Flexible Space Manipulator during on Orbit Operations[J].Acta Astronautica,2012,73:109-121.
[6] 王从庆,吴鹏飞,周鑫.基于最小关节力矩优化的自由浮动空间刚柔耦合机械臂混沌动力学建模与控制[J].物理学报,2012,61(23):81-88WANG Congqing,WU Pengfei,ZHOU Xin.Control and Modeling of Chaotic Dynamics for a Free-floating Rigid-flexible Coupling Space Manipulator Based on Minimal Joint Torque's Optimization[J].Acta Physica Sinica,2012,61(23):81-88.
[7] 张丽娇,陈力.全柔性杆空间机械臂动力学与运动L2增益抗扰鲁棒反演控制[J].中国机械工程,2017,28(8):952-957.ZHANG Lijiao,CHEN Li.Dynamics Model and Anti-disturbance L2 Gain Robust Backstepping Control for Space Manipulators with Fully Flexible Links[J].China Mechanical Engineering,2017,28(8):952-957.
[8] NANOS K,PAPADOPOULOS E G.On the Dynamics and Control of Flexible Joint Space Manipulators[J].Control Engineering Practice,2015,45:230-243.
[9] 陈志勇,陈力.漂浮基带柔性铰空间机器人的动力学建模及奇异摄动控制研究[J].中国机械工程,2011,22(18):2151-2155.CHEN Zhiyong,CHEN Li.Study on Dynamics Modeling and Singular Perturbation Control of Free-floating Space Robot with Flexible Joints[J].China Mechanical Engineering,2011,22(18):2151- 2155.
[10] YU X Y,CHEN L.Observer-based Two-time Scale Robust Control of Free-flying Flexible-joint Space Manipulators with External Disturbances[J].Robotica,2017,35:2201-2217.
[11] NENCHEV D N,YOSHIDA K,UCHIYAMA M.Reaction Null Space Control of Free-floating and Elastic Base Robots[J].Journal of the Brazilian Society of Mechanical Sciences,1999,21(2):175-184.
[12] MENG D S,LIANG B,XU W F.On the Autonomous Target Capturing of Flexible-base Space Robotic System[C]//Proceedings of the 13th International Conference on Control Automation Robotics and Vision.Singapore:IEEE,2014:1894-1899.
[13] 梁捷,陈力,梁武林,等.基座弹性影响下空间站柔性关节机械臂的鲁棒自适应滑模控制及双重弹性振动主动抑制[J].载人航天,2016,22(6):788-796.LIANG Jie,CHEN Li,LIANG Wulin,et al.Robust Adaptive Sliding Mode Control and Active Dual Vibration Suppression in Flexible Joint Manipulator of Space Station with Elastic Foundation[J].Manned Spaceflight,2016,22(6):788-796.
[14] CHEN Z Y,ZHANG T T,LI Z H.Hybrid Control Scheme Consisting of Adaptive and Optimal Controllers for Flexible-base Flexible-joint Space Manipulator with Uncertain Parameters[C]// Proceedings of the 9th International Conference on Intelligent Human-machine Systems and Cybernetics.Hangzhou:IEEE,2017:341-345.
[15] MAN Z H,YU X.Adaptive Terminal Sliding Mode Tracking Control for Rigid Robotic Manipulators with Uncertain Dynamics[J].JSME International Journal,Series C,1997,40(3):493-502.
[16] MEZGHANI B R N,DAMAK T.Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators [J].International Journal of Automation and Computing,2011,8(2):215-220.
[17] WANG Y M,FENG Y,YU X H.Fuzzy Terminal Sliding Mode Control of Two-link Flexible Manipulator[C]//Proceeding of the 34th Annual Conference of IEEE on Industrial Electronics.Orlando:IEEE,2008:1620-1625.