空间机器人柔性臂动力学模糊控制的研究

重点研究了在空间机器人柔性臂的动力学非线性控制问题，由于柔性臂动力学系统的强非线性和耦合性，使得柔性臂控制系统复杂，控制的实时性和稳定性差，本文针对以往柔性臂控制所存在的问题，综合考虑系统的动态和静态特性，提出了一种带有非线性补偿器及ＰＩＤ控制器的柔性臂模糊复合控制方案，然后，根据所推导了一两连杆的空间机器人柔性臂的这非线性模型，进行了系统控制的仿真研究，实例仿真的结果表明，该控制方案能有效地抑制

Study on Fuzzy Control of Space Flexible Manipulators

In this paper, we emphasis on the research of dynamic fuzzy control of space flexible manipulators. The space flexible manipulator is a nonlinear and strong coupling dynamic system, and the complicated control system of which has a bad control property of real time and stability. According to the control problems above, the fuzzy composed controller with a nonlinear compensator and a PID controller is proposed by well considered both the dynamic and static control properties of the system. Then, the control method is verified by numerical simulation, based on the dynamic model of a two link space flexible manipulator which has been deduced. The simulation results show that the control strategy has a good result on the vibration reducing of flexible manipulators.