空间机械臂关节电流环预测控制研究

空间机械臂是空间在轨服务的重要执行机构，关节伺服控制性能在很大程度上影响着机械臂操控性能.电流环是关节多控制环嵌套结构的最内层，针对高性能关节伺服控制系统对电流环动态响应快、超调量小和参数鲁棒性强的要求，本文提出一种高阶形式的无差拍电流预测控制方法，仿真结果表明：相比PI调节器，该方法极大提升了系统带宽，可使电流环动态响应速度逼近数字控制系统中的理论上限；相比传统无差拍控制方法，该方法对于电机电阻与磁链参数变化具有更强的适应性，在参数失配的条件下具有更好的动态与稳态性能.

Current Predictive Control in Space Robotic Arm Joints

Space robotic arms are important actuators in on orbit serving (OOS) missions and the performance of joint servo systems largely affect overall performance of robotic arm motion control systems. Current loop is the innermost part in the nested loop structure of joint servo system and high performance motion control systems demand current loop that has fast dynamic response, low overshoot and parameter robustness. In this paper, a high order deadbeat current predictive control method is proposed. Simulation results show that, compared with conventional PI controllers, this method can increase the system bandwidth and push the dynamic response time to its theoretical limit; when compared with conventional deadbeat control method, this method is more robust under resistance and magnetic flux variation and shows satisfactory dynamic and steady state performance under parameter mismatch.