摘要
针对漂浮基空间机械臂系统存在关节力矩输出死区的现象,设计了抗死区的自适应鲁棒补偿控制算法。用自适应死区估计补偿器来消除关节力矩输出死区的影响,首先利用无参数误差的动力学模型设计计算力矩控制器,然后将自适应鲁棒控制用于辨识、消除系统参数的不确定性,保证了具有输出力矩死区的系统稳定性与动态性能。最后对控制策略进行了Lyapunov稳定性证明,并通过软件仿真验证了控制方法的有效性。
Aiming at the dead zone of joint torque output in floating space manipulator system,an adaptive robust compensation control algorithm against dead zone is designed.The adaptive dead time estimation compensator is used to eliminate the influence of the joint torque output dead-zone.Firstly,the dynamic model without parameter error is used to design and calculate the torque controller,and then the adaptive robust control is used to identify and eliminate the uncertainty of the system parameters,so as to ensure the stability and dynamic performance of the system with the dead-zone of the output torque.Finally,the Lyapunov stability of the control strategy is proved,and the effectiveness of the control method is verified by software simulation.
作者
曹泰程
陈子豪
于潇雁
陈力
Cao Taicheng;Chen Zihao;Yu Xiaoyan;Chen Li(School of Mechanical Engineering and Automation, Fuzhou University, Fujian Fuzhou, 350116, China;Key Laboratory of Fluid Power and Intelligent Electro-Hydraulic Control, College ofMechanical Engineering and Automation, Fuzhou University, Fujian Fuzhou, 350116, China)
出处
《机械设计与制造工程》
2021年第9期29-33,共5页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金资助项目(51741502)
福建省工业机器人基础部件技术重大研发平台(2014H21010011)。
关键词
漂浮基空间机器人
轨迹跟踪
关节力矩输出死区
自适应鲁棒补偿控制
floating-floating space manipulator
trajectory tracking
joint torque output dead-zone
adaptive robust compensation control
