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针对具有未知惯性参数柔性空间机械臂系统的动力学和柔性振动控制问题,设计了基于奇异摄动理论的载体、关节铰轨迹跟踪的鲁棒神经网络控制算法和柔性振动反馈PD控制算法.首先,构建神经网络函数逼近慢变子系统的综合建模误差,设计载体、关节铰协调运动鲁棒控制算法,同时,通过稳定性分析选择神经网络自适应律;应用PD反馈控制来主动控制并消除快变子系统的柔性振动模态.仿真结果表明,所设计的控制算法解决了系统参数未知等因素带来的影响,能快速准确地进行轨迹追踪,同时,柔性杆的振动模态得到明显抑制,在2秒后基本消除.
Aiming at the problem of dynamics and flexible vibration control of a flexible space manipulator with unknown inertia parameters, a robust neural network control algorithm and flexible vibration feedback PD control algorithm based on singular perturbation theory are designed. Firstly, The neural network function is constructed to approximate the comprehensive modeling error of the slowly variable subsystem, and the robust control algorithm for the coordinated motion of the joint and the articulated joint is designed. At the same time, the neural network adaptive law is selected through the stability analysis. The PD feedback control is used to control and eliminate the fast The simulation results show that the designed control algorithm solves the influence of unknown parameters of the system and can track the trajectory quickly and accurately. At the same time, the vibration mode of the flexible rod is obviously restrained, After 2 seconds basically eliminated.