| 一种柔性空间机械臂的刚体运动和柔性振动复合控制方法 |
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| 引用本文： | 葛东明,史纪鑫,邹元杰.一种柔性空间机械臂的刚体运动和柔性振动复合控制方法[J].空间控制技术与应用,2013(5):13-18. |
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| 作者姓名： | 葛东明 史纪鑫 邹元杰 |
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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： | 民用国家重点基础研究发展计划（973）资助项目（2013CB733100）和总装预研基金资助项目（9140A20010412HT05231）. |
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| 摘 要： | 针对柔性空间机械臂的刚体运动控制和柔性体振动抑制问题,给出了一种反馈和前馈复合控制方法.对于一个柔性双连杆机械臂,首先设计反馈线性化控制器,消除非线性影响,实现大范围的刚体运动控制.其次基于闭环回路响应的振动特性,设计输入成型前馈控制器,预成型控制命令,抑制对结构振动影响显著的某些模态响应.最后仿真结果证实了给出的反馈线性化和输入成型复合控制方法,可以实现精确的位置控制,同时机械臂的残余振动得到了有效的抑制.
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| 关 键 词： | 机械臂 柔性 复合控制 振动抑制 输入成型 |
A Composite Control Method for Flexible Space Manipulators with Rigid-Body Motion and Flexible Vibration |
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| GE Dongming,SHI Jixin,ZOU Yuanjie.A Composite Control Method for Flexible Space Manipulators with Rigid-Body Motion and Flexible Vibration[J].Aerospace Contrd and Application,2013(5):13-18. |
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| Authors: | GE Dongming SHI Jixin ZOU Yuanjie |
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| Institution: | ( Beijing Institute of Spacecraft System Engineering, Beijing 100094, China) |
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| Abstract: | For the rigid-body motion control and vibration suppressing of flexible space manipulators, a control method combining feedback and feed-forward schemes is presented. Firstly, for a flexible two-link manipulator, a feedback linearization controller is designed to cancel the nonlinear effects and realize the control of large-scale rigid-body motion. Secondly, based on the vibration properties of closed-loop responses, an input-shaping feed-forward controller is designed to preshape the commands. As a result, the modal responses that have significant contributions to structural vibrations can be suppressed. Finally, simulation results demonstrate that the feedback linearization approach and the input-shaping-based method can achieve precise position control, and suppress the residual vibrations of the manipulator effectively. |
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| Keywords: | manipulator flexible composite control vibration suppressing input-shaping |
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