CAJ | 학술논문

讨论受到外部干扰影响的参数不确定的漂浮基柔性关节、柔性臂空间机器人系统的动力学建模过程、运动控制律设计和关节、臂双重柔性振动的主动抑制问题。利用动量、动量矩守恒关系和拉格朗日-假设模态法建立系统动力学方程。基于奇异摄动法，将系统分解为相互独立的三个子系统：慢变子系统、快变子系统1和快变子系统2。针对慢变子系统提出一种饱和鲁棒模糊滑模控制律来补偿不确定参数、柔性关节引起的转角误差以及外部干扰的影响，从而实现系统期望运动轨迹的渐近跟踪。饱和函数的运用可减弱滑模控制自身的抖振；针对快变子系统1设计一种速度差值反馈控制器来抑制柔性关节引起的系统柔性振动；针对快变子系统2采用线性二次型最优控制器来抑制柔性臂引起的系统柔性振动。仿真试验证明所提出的混合控制律的有效性。
토론수도외부간우영향적삼수불학정적표부기유성관절、유성비공간궤기인계통적동역학건모과정、운동공제률설계화관절、비쌍중유성진동적주동억제문제。이용동량、동량구수항관계화랍격랑일-가설모태법건립계통동역학방정。기우기이섭동법，장계통분해위상호독립적삼개자계통：만변자계통、쾌변자계통1화쾌변자계통2。침대만변자계통제출일충포화로봉모호활모공제률래보상불학정삼수、유성관절인기적전각오차이급외부간우적영향，종이실현계통기망운동궤적적점근근종。포화함수적운용가감약활모공제자신적두진；침대쾌변자계통1설계일충속도차치반궤공제기래억제유성관절인기적계통유성진동；침대쾌변자계통2채용선성이차형최우공제기래억제유성비인기적계통유성진동。방진시험증명소제출적혼합공제률적유효성。
The dynamics modeling, motion control design and joint-link double flexible vibration active suppression of free-floating flexible-joint flexible-link space robot with uncertain parameters and external disturbance are discussed. The system’s dynamic equations are established according to linear momentum conservation, angular momentum conservation and Lagrange-Assumed mode method. Based on singular perturbation method, the system is decomposed into a slow subsystem, a fast subsystem 1 and a fast subsystem 2. For the slow subsystem, a saturation robust fuzzy sliding controller is proposed to compensate the influences of the uncertain parameters, rotation angles’ errors and the external disturbance, and thus realize the asymptotic tracking of the system desired trajectory. The saturation function is used to recede the chattering of the sliding control; for the fast subsystem 1, a velocity difference feedback controller is used to suppress the flexible vibration caused by flexible-joint; for the fast subsystem 2, linear quadric regulator is used to suppress the flexible vibration caused by flexible-link. The simulation results prove the controller’s efficiency.