摘要
分析了柔性空间机械臂捕获卫星过程受到的碰撞冲击效应,及其受碰撞冲击后不稳定运动的镇定控制.利用第二类拉格朗日方程建立空间机械臂系统的动力学模型.基于碰撞过程空间机械臂与被捕获卫星的动量守恒原理,利用动量冲量法计算碰撞冲击对空间机械臂运动状态的影响效应,该影响效应将引起空间机械臂系统的不稳定运动及柔性杆弹性振动.考虑到上述冲击效应,设计神经网络控制算法进行控制,以实现对不稳定运动进行镇定控制及抑制柔性杆振动.最后,通过数值仿真结果验证了上述控制算法的有效性.
The impact effect and post-impact unstable motion stabilization control of flexible space manipulator capturing the satellite were analyzed.Firstly,the dynamic model of space manipulator system was derived by the second Lagrange equation.Based on the momentum conservation principle during the impact between the space manipulator and satellite,the impact effect which would cause the unstable motion and flexible link vibration of space manipulator was calculated.Considering the above impact effect,a neural network control algorithm was proposed to stabilize the unstable motion and suppress the flexible vibration.Finally,the numerical simulation results verified the validity of the proposed control algorithm.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第3期22-27,共6页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金资助项目(11372073
11072061)
关键词
柔性空间机械臂
碰撞冲击
振动
神经网络
镇定控制
flexible space manipulator
impact
vibration
neural network
stabilization control
