基于最小关节力矩优化的自由浮动空间刚柔耦合机械臂混沌动力学建模与控制

Control and modeling of chaotic dynamics for a free-floating rigid-flexible coupling space manipulator based on minimal joint torque's optimization

采用拉格朗日法、假设模态法和系统动量守恒原理,推导了一种平面内三连杆的自由浮动刚柔耦合冗余度空间机械臂的动力学模型.基于最小关节驱动力矩优化,建立了自由浮动刚柔耦合冗余度空间机械臂的混沌运动状态方程,采用混沌数值方法分析机械臂运动中的混沌现象,分别在工作空间、关节空间和模态空间,设计鲁棒Proportional-Derivtive(PD)补偿控制、延迟反馈控制和模态力最优控制,实现了轨迹跟踪、混沌运动抑制和振动控制.通过数值仿真验证了建模与控制方法的有效性.

The dynamic model of a planar free-floating rigid-flexible redundant space manipulator with tree joints is derived by the assumed mode method, Lagrange principle and momentum conservation. Based on minimal joint torque optimization, the state equations of chaos motion for the free-floating redundant space manipulator are built. Then chaotic numerical method is used to analyze chaotic dynamic characteristics of the model. The robust Proportional-Derivative（PD） compensatory control, the delayed feedback control and the optimal control are designed in work space, joint space and mode space respectively. The composite control can assure the trajectory tracking, chaotic suppression and vibration control. The experimental results show the effectiveness of the presented methods.