摘要
讨论了具有未知参数的漂浮基空间机械臂在发生电机故障时的动力学建模、运动容错控制算法问题。利用Lagrange第二类动力学方程建立了系统在发生故障时的动力学模型。针对该模型,提出了一种基于Backstepping思想与时延估计技术相结合的容错控制方法,并证明了整个闭环控制系统的渐进稳定性。提出的混合控制方法能够有效地解决漂浮基空间机械臂参数不确定及电机故障问题。通过计算机数值仿真,验证了上述控制方案的有效性和可行性。
It proposes the dynamics modeling, movement of fault -tolerant control algorithm of free floating space manipulator with unknown parameters. Based on Lagrange model of the system in the event of failure, puts forward second dynamics equation, it establishes a dynamic a kind of combination fault - tolerant control method based on Backstepping and time delay estimation technology , proves the asymptotic stability of the closed -loop control system through the Lyapunov second method. This method can solve the free floating space manipulator parameter uncertainty and motor fault problem. The simulation shows that the method is effective and feasible.
出处
《机械设计与制造工程》
2015年第4期5-8,共4页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金资助项目(11372073)
关键词
漂浮基
空间机械臂
时延估计
容错控制
free floating
space manipulator
time delay estimation
fault - tolerant control
