捕获载荷冲击漂浮基柔性空间机械臂动力学响应评估与自适应镇定控制及主动抑制

Dynamics response evaluation,adaptive stabilization control and vibration active suppression for free-floating flexible space manipulator impacted by capturing load

分析漂浮基柔性空间机械臂受捕获载荷冲击后动力学响应及控制,利用假设模态法近似描述空间机械臂柔性杆弹性变形;利用第二类拉格朗日方程建立漂浮基空间机械臂系统动力学模型。基于动量守恒原理,利用动量冲量法评估受捕获载荷冲击后漂浮基空间机械臂系统动力学响应。设计自适应控制算法对受捕获载荷碰撞冲击后不稳定漂浮基空间机械臂进行镇定控制;设计线性二次最优控制算法抑制柔性杆弹性振动。用数值仿真验证控制算法的有效性。

The dynamics response and control of a free-floating flexible space manipulator impacted by capturing load were analyzed.The elastic deformation of flexible link of the space manipulator was approximately described by using the method of assumed modes,and the dynamics model of the free-floating space manipulator system was derived with second Lagrange equation.Based on the momentum conservation theorem,the dynamics response evaluation of the free-floating flexible space manipulator impacted by capturing load was presented by virtue of the momentum impulse method. Then,an adaptive control algorithm was designed for the stabilization control of the unstable free-floating space manipulator after impacted by capturing load, and a linear quadratic optimal control algorithm was designed for suppressing the elastic vibration of flexible link.The simulation results verify the validity of the above control algorithms.