| 一种基于频域分析的柔性空间机械臂振动抑制方法 |
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| 引用本文： | 李梁,荣吉利.一种基于频域分析的柔性空间机械臂振动抑制方法[J].航天器工程,2014,23(5):41-46. |
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| 作者姓名： | 李梁 荣吉利 |
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| 作者单位： | 1. 北京空间飞行器总体设计部,北京,100094
2. 北京理工大学宇航学院,北京,100081 |
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| 摘 要： | 针对采用两级控制的大型柔性空间机械臂轨迹跟踪与振动抑制问题,文章在对系统频域进行分析的基础上,提出了一种应用滤波的振动抑制方法,即通过降低中央控制器输出信号的频率减少伺服跟踪的动态误差。此方法能够有效提高机械臂末端解析点(POR)的动态跟踪精度,并抑制机械臂振动。文章通过某大型机械臂全柔性系统仿真算例对方法的有效性进行了验证,可为机械臂控制和振动抑制提供借鉴。
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| 关 键 词： | 柔性机械臂 振动抑制 频域分析 |
Method of Flexible Space Manipulator Vibration Suppression Based on Frequency Domain Analysis |
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| LI Liang,RONG Jili.Method of Flexible Space Manipulator Vibration Suppression Based on Frequency Domain Analysis[J].Spacecraft Engineering,2014,23(5):41-46. |
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| Authors: | LI Liang RONG Jili |
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| Institution: | LI Liang,RONG Jili( 1.Beijing Institute of Spacecraft System Engineering, Beijing 100094, China; 2.School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China) |
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| Abstract: | Focusing on the high precision tracking and vibration suppression problem of large flexible space manipulator with two-level control,a vibration suppression method using filtering is proposed based on frequency domain analysis,and output signal frequency of the central control unit is decreased to reduce servo control error.This method can effectively improve the tracking accuracy of the point of resolution （POR）,and effectively reduce the vibration.The method is validated through simulation with a large space manipulator model with full flexibility.The method can be a reference for space manipulator control and vibration suppression. |
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| Keywords: | flexible manipulator vibration suppression frequency domain analysis |
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