双柔臂空间机器人运动、振动一体化抗死区控制

探讨漂浮基双柔臂空间机器人存在关节力矩输出死区与外部干扰时的姿态角度运动跟踪及柔性抑振的控制问题。引入含有刚性运动与柔性模态的混合轨迹概念,提出基于运动、振动一体化的积分滑模神经网络自适应控制方案。此方案的优点是不但通过补偿项消除了死区斜率与边界参数不确定及最优逼近误差上确界未知的影响,确保了刚性运动的鲁棒性,而且能同时主动地抑制两臂杆的柔性振动,从而提高轨迹跟踪性能。仿真算例结果表明方案能有效地实现运动、振动一体化控制。

Anti-dead-zone Control for Two Flexible Links Space Robot with Integration of Motion and Vibration

The angle tracking and flexible vibration suppression integrated control for the two flexible links free-floating space robot with joint torque output dead-zone and external disturbance are discussed. The hybrid trajectory concept with rigid motion and flexible mode is introduced, and an adaptive control scheme of the integral sliding mode neural network based on the integration of motion and vibration is proposed. In case the slope and boundary of dead-zone is uncertain and the upper kind of the optimal approximation error is unknown, the compensation term of the scheme can eliminate the effect, and ensures the robustness of the rigid motion. Also, the scheme suppresses the vibration of the two links flexible actively to improve the tracking performance. Simulation results show that the scheme can achieve the integration control of the motion and vibration effectively.