| 有摩擦补偿的驱动组件高精度位置控制研究 |
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| 引用本文： | 张晓东,张东华.有摩擦补偿的驱动组件高精度位置控制研究[J].航天器工程,2010,19(3):45-51. |
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| 作者姓名： | 张晓东 张东华 |
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| 作者单位： | 北京空间飞行器总体设计部,北京,100094 |
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| 基金项目： | 中国空间技术研究院自主研发项目 |
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| 摘 要： | 针对柔性、摩擦影响下的谐波驱动组件高精度位置控制问题,提出了一种自适应摩擦补偿的递阶控制策略。建立了考虑谐波驱动组件柔性、摩擦的级联动力学方程,采用LuGre摩擦模型描述摩擦特性,设计双状态观测器估计LuGre模型内部不可测状态,并引入自适应律辨识未知模型参数和惯量变化,实现了谐波驱动组件的高精度位置控制,并基于Lyapunov定理证明闭环系统的稳定性和跟踪误差的渐进收敛性,通过在空间机构驱动组件测试平台上的试验结果表明,该方法有效提高了驱动组件位置控制精度和鲁棒性。
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| 关 键 词： | 空间机构 谐波减速器 驱动组件 摩擦补偿 自适应 |
High Precision Position Control for Space Mechanical Actuator with Friction Compensation |
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| ZHANG XiaoDong,ZHANG Donghua.High Precision Position Control for Space Mechanical Actuator with Friction Compensation[J].Spacecraft Engineering,2010,19(3):45-51. |
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| Authors: | ZHANG XiaoDong ZHANG Donghua |
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| Institution: | ZHANG XiaoDong ZHANG Donghua(Beijing Institute of Spacecraft System Engineering,Beijing,100094) |
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| Abstract: | An adaptive high precision position control with friction compensation scheme for Space mechanical actuator is presented.A mechanical actuator is modeled as a cascade system,and LuGre dynamic friction model with nonuniform friction variations is used to characterize the friction force. Dual state observers are proposed to estimate the internal immeasurable state of LuGre model,and nonlinear adaptive control laws are designed to identify the unknown model parameters,inertia and the external disturbances. The system stability and asymptotic trajectory tracking performance are proved based on Lyapunov theorem and demonstrated by the experimental results. |
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| Keywords: | space mechanism harmonic reductor mechanical actuator friction compensation parameter adaptive |
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