中国科技核心期刊

中文核心期刊

CSCD来源期刊

空间控制技术与应用 ›› 2014, Vol. 40 ›› Issue (4): 9-13.doi: 10.3969/j.issn.1674-1579.2014.04.002

• 学术研究 • 上一篇    下一篇

柔性关节自由漂浮空间机械臂递推自适应控制

  

  1. 1. 北京控制工程研究所; 2. 空间智能控制技术重点实验室;
    3. 中国空间技术研究院
  • 出版日期:2014-08-20 发布日期:2014-08-20

On the Recursive Adaptive Control for Flexible-Joint Free-Floating Space Manipulators

  • Online:2014-08-20 Published:2014-08-20

摘要: 针对柔性关节自由漂浮空间机械臂,在存在动力学参数不确定性的情况下,通过增加相对阻尼项,提出基于无源性的柔性关节自由漂浮空间机械臂的关节空间自适应控制器,然后得到其递推实现.递推自适应算法由两部分组成:一部分实现所需的机械臂控制力矩的递推,另一部分实现航天器参考速度和参考加速度的递推更新.针对六自由度柔性关节自由漂浮空间机械臂进行了仿真,验证了所设计的递推自适应控制算法的性能.

关键词: 递推自适应控制, 柔性关节, 自由漂浮空间机械臂

Abstract: This paper investigates the recursive implementation of adaptive control for flexiblejoint freefloating space manipulators (FFSM). Based on adaptive control for rigid-joint FFSM, joint-space adaptive controller for flexiblejoint FFSM is derived by adding relative damping term, and then the recursive joint-space adaptive control for flexiblejoint FFSM is developed. The recursive jointspace adaptive control consists of two parts, one for the recursive formulation of the manipulator control torques, the other for the recursive updating of the spacecraft reference velocity and acceleration. Simulation is presented to show that the recursive adaptive controller can achieve the joint-space trajectory tracking on a six-DOF FFSM.

Key words: recursive adaptive control, flexible joint, freefloating space manipulator

中图分类号: 

  • TP241.3