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讨论了载体位置、姿态均不受控制情况下,漂浮基柔性空间机械臂系统基于混合轨迹的关节运动增广变结构控制,该控制方案能够同时主动抑制柔性杆产生的振动。基于一般期望轨迹的增广变结构控制仅能完成渐近解耦的关节空间轨迹追踪,并不能抑制柔性杆的振动;为了对柔性振动模态进行主动控制,使用虚拟控制力的观念生成了同时反映关节期望轨迹和柔性变量的混合轨迹,从而为柔性空间机械臂系统设计了追踪混合轨迹的增广变结构控制方案。数值仿真结果证实了该控制方案在系统参数存在不确定的情况下,能够使机械臂关节角稳定地追踪期望轨迹并对所产生的柔性振动进行主动抑制。
This paper discusses the hybrid variable structure control of floating space flexible space manipulator system based on hybrid trajectory with uncontrolled position and attitude. The control scheme can simultaneously restrain the vibration generated by the flexible rod. The augmented variable structure control based on the general desired trajectory can only accomplish asymptotic decoupling joint space trajectory tracking and can not restrain the vibration of the flexible rod. In order to control the flexible vibration mode actively, the concept of virtual control force is used to generate simultaneous Which can reflect the hybrid trajectory of the joint expected trajectory and the flexible variable, so as to design an augmented variable structure control scheme for the flexible space manipulator system to track the hybrid trajectory. The numerical simulation results show that the proposed control scheme can make the joint angle of the manipulator steadily track the desired trajectory and actively suppress the generated flexible vibration when the system parameters are uncertain.