摘要
针对空间机械臂柔性关节在轨迹跟踪过程中对外部干扰较为敏感、且对控制精度要求高的特点,设计了基于干扰观测器的双位置闭环控制方案。根据系统动力学模型,对外部干扰采用干扰观测器来进行观测,在控制中引入等效的补偿,实现对干扰的抑制。同时设计双位置闭环伺服控制器,提高空间机械臂的轨迹跟踪精度。仿真结果表明,该控制方法能较好地克服外部干扰引起的空间机械臂振动,改善系统的控制性能。
A dual-position closed-loop control scheme based on disturbance observer is designed for space manipulator flexible joint which is sensitive to external disturbance and requires high control accuracy in trajectory tracking.According to the system dynamics model,the external disturbance of system is observed by disturbance observer,and the equivalent compensation is introduced to suppress the disturbance.At the same time,a double position closed loop servo controller is designed to improve the trajectory tracking accuracy of the space manipulator.The simulation results show that the control method can overcome the vibration of space manipulator caused by external disturbance and improve the control performance of the system.
作者
王漪梦
吴斌
周挺
WANG Yimeng;WU Bin;ZHOU Ting(Mechanical and Electronic Control Engineering,Beijing Jiaotong University,Beijing 100044,China)
出处
《自动化与仪器仪表》
2019年第3期147-150,共4页
Automation & Instrumentation
基金
空间机械臂抓捕过程稳定控制及扰动抑制研究(M15GY500030)
关键词
空间机械臂
干扰观测器
双位置闭环控制
振动抑制
space manipulator
disturbance observer
two position closed loop control
vibration suppression
