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讨论了载体位置不受控、姿态受控的情况下,漂浮基柔性空间机械臂系统的轨迹跟踪和振动抑制问题。对系统进行输入输出反馈线性化,并采用奇异摄动理论,得到了慢变子系统和快变子系统。然后,设计了两种时间尺度的模糊逻辑控制器,以控制柔性空间机械臂的载体姿态和机械臂关节铰协调地来完成各自在关节空间的期望运动。慢变子系统用模糊控制来进行轨迹跟踪,而快变子系统用最优线性二次型控制来主动抑制柔性杆的振动。系统仿真结果说明了控制器的可靠性和有效性。
The trajectory tracking and vibration suppression of the flexible space manipulator system with floating base are discussed under the condition that the position of the carrier is uncontrolled and the attitude is controlled. The input and output feedback linearization of the system, and the use of singular perturbation theory, has been slow sub-system and fast sub-system. Then, two time-scale fuzzy logic controllers are designed to control the attitude of the flexible space manipulator and the joint hinges of the manipulator to accomplish their desired motion in the joint space. Slow sub-systems use fuzzy control for trajectory tracking, while fast sub-systems use the optimal linear quadratic control to actively suppress the vibration of the flexible rod. The system simulation results show the reliability and effectiveness of the controller.