CAJ | 학술논문

讨论了载体位置、姿态均不受控情况下,自由漂浮柔性空间机械臂系统关节运动的拟增广自适应控制和柔性振动实时主动抑制问题.此类机器人系统的特点在于:结合系统动量及动量矩守恒关系得到的完全能控形式的系统动力学方程,关于系统惯性参数不符合惯常的线性函数关系,因此地面机器人的控制方法在此难以直接推广应用.为了克服上述难点,我们仅将系统动量守恒关系耦合到系统动力学方程当中,而不耦合系统动量矩守恒关系,结果得到一组欠驱动形式的系统动力学方程.其优点在于,系统动力学方程关于一组组合惯性参数保持惯常的线性函数关系.以此为基础,设计了具有未知参数柔性空间机械臂关节轨迹跟踪的拟增广自适应控制方案.并根据柔性子系统的动力学特性,设计了一个基于反馈的自适应控制方案来对柔性杆的振动进行快速实时的抑制.所提出的控制方案还具有不需要测量、反馈载体位置、移动速度和移动加速度的显著优点.系统的数值仿真,证实了方法的有效性.
토론료재체위치、자태균불수공정황하,자유표부유성공간궤계비계통관절운동적의증엄자괄응공제화유성진동실시주동억제문제.차류궤기인계통적특점재우:결합계통동량급동량구수항관계득도적완전능공형식적계통동역학방정,관우계통관성삼수불부합관상적선성함수관계,인차지면궤기인적공제방법재차난이직접추엄응용.위료극복상술난점,아문부장계통동량수항관계우합도계통동역학방정당중,이불우합계통동량구수항관계,결과득도일조흠구동형식적계통동역학방정.기우점재우,계통동역학방정관우일조조합관성삼수보지관상적선성함수관계.이차위기출,설계료구유미지삼수유성공간궤계비관절궤적근종적의증엄자괄응공제방안.병근거유성자계통적동역학특성,설계료일개기우반궤적자괄응공제방안래대유성간적진동진행쾌속실시적억제.소제출적공제방안환구유불수요측량、반궤재체위치、이동속도화이동가속도적현저우점.계통적수치방진,증실료방법적유효성.
Here in, the real-time vibration suppressing and augmented adaptive control of a free-floating flexible space manipulator were studied.The dynamic equations of the system were developed by using the Lagrangian assumed mode method.It was verified that the dynamic equation of the system can be linearly dependent on a group of inertial parameters.Based on the above results and the augmentation approach, an adaptive control of a space flexible manipulator to track the desired trajectory was developed.Considering the dynamics of flexible subsystems, a control scheme was presented to suppress the vibration during the real-time operation.In particular, it didn't require measuring the position, velocity and acceleration of the base because of an effective exploitation of the particular property of the system dynamics.The numerical simulation was carried out and it confirmed the controller proposed is feasible and effective.