空间机械臂直接驱动、挠性的输入成型控制

Space manipulator direct motivated,flexible preshaping command input control

针对空间环境和空间任务的特殊性,以空间机械臂模拟实验系统为研究对象,利用空间机械臂动力学模型,设计了脉冲输入成型器。它借助输入成型技术的前馈控制方法,有效地消除机械臂完成跟踪运动的余振动,实验证明:该系统的运动状况能够满足控制系统的要求。

The main character of space manipulator is using the flexible arm to decrease the weight, and eliminating the flexible vibration at the same time. So the space manipulator experiment device was designed to study the dynamical model and control system. The dynamical model is the basis of analysis of the space manipulator＇s character and control. According to the experiment＇s single flexible character, the dynamical model and control model was derived and the control parameter was gotten. To eliminate the vibration of the flexible arm, the command input control is used in this system, and was validated through experiments.