空间柔性臂的解耦动力学模型及其控制

Decoupled dynamic model and control of flexible space manipulator

提出了一种空间柔性结构通过关节电机同时实现轨迹控制和振动抑制的方法。针对单连杆空间柔性臂,采用非约束模态法建立了刚柔解耦动力学模型;提出了基于应变反馈的PID控制策略,并设计了PID/应变反馈复合控制器,同时实现对柔性臂末端运动轨迹的定位控制和弹性振动抑制控制;仿真结果验证了该控制策略的可行性。

The method, both for the tip trajectory and the elastic vibration control by a joint motor, was proposed. By using unstrained modal approach, the rigid-flexible decoupled dynamic model of a single link space flexible manipulator was formulated, and a strain-feedback PID composite controller was presented to trace the tip trajectory and to suppress the elastic deflection of the manipulator during the motion. The numerical simulation results have shown the validity of the control strategy.