摘要
讨论了载体姿态受控、位置不受控制情况下,漂浮基空间机械臂载体姿态与末端爪手协调运动的控制问题.结合系统动量守恒关系,分析、建立了空间机械臂系统运动的Jacob i关系及完全能控形式的系统动力学方程.在此基础上,应用变结构滑模控制理论设计了空间机械臂载体姿态与末端爪手惯性空间轨迹协调运动的变结构滑模控制方案;为了克服上述变结构滑模控制器抖振的缺点,附加设计了一个模糊控制器,以根据系统的控制输出来动态调节变结构滑模控制器等速趋近率的系数,从而达到既保证系统具有快速响应又能消除原有控制器具有抖振缺点的目的.系统数值仿真运算,证明了上述控制方案的有效性.
Fuzzy variable structure sliding - mode control of coordinated motion of spacecraft attitude and manipulator of the space the end - effector of the space manipulator systems whose spacecraft position is not controlled is discussed. By use the method of multibody dynamics, the dynamics equations and Jacobi relationship of space manipulator systems are established. Based on the result, the control problem for space manipulator to track the desired trajectory in inertia space is discussed. Because of the high structure complexity and the parameter uncertainty of space manipulator systems, the scheme of variable structure sliding - mode control with better robustness to uncertainty and disturbance is pro- posed. Fuzzy controllers are designed at the aim of chattering reduction and rapid response. The fuzzy controllers can tune the sliding control law parameters automatically according to the relationship between system state and switching manifold. The effect of the controller is testified by computer simulation
出处
《福州大学学报（自然科学版）》
CAS
CSCD
北大核心
2008年第5期698-703,共6页
Journal of Fuzhou University(Natural Science Edition)
基金
国家自然科学基金资助项目(10372022
10672040)
福建省自然科学基金资助项目(E0410008)
关键词
漂浮基空间机械臂
协调运动
模糊变结构滑模控制
free- floating space manipulator
inertia- trajectory tracking
fuzzy variable sliding- mode control
