柔性关节空间机械臂奇异摄动自适应PD控制仿真研究

Simulation study on the singular perturbation based adaptive PD control of flexible joint space manipulators

建立了柔性关节机械臂空间漂浮和地面调试两阶段的动力学模型,并为柔性关节机械臂末端轨迹跟踪控制设计了基于奇异摄动的自适应PD控制算法,实现了对机械臂末端位置跟踪在空间漂浮和地面调试两阶段的控制。用奇异摄动法实现了将高阶系统降阶为两个低阶系统,即快子系统和慢子系统,再针对两子系统分别设计控制器。对控制系统进行了稳定性分析和仿真验证,结果表明设计的控制算法既可以实现在地面装调时的轨迹跟踪控制,也可以较好地实现空间漂浮状态下的轨迹跟踪控制。

The dynamic model of a flexible joint manipulator in the stages of space floating and ground debugging is established,and a singular perturbation based adaptive PD control algorithm for the manipulator＇s end track tracking control is designed to achieve the manipulator＇s end position tracking control in the space floating stage and the ground debugging stage. The singular perturbation method is used to divide the higher order system into two lower ones,i. e. a fast subsystem and a slow subsystem,and then the controllers for them are designed respectively. The control＇s stability analysis and simulation veritication are conducted,and the results show that the designed control algorithm can well achieve the trajectory tracking control both in the stages of ground debugging and space floating.