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研究了柔性空间机械臂协调运动控制及柔性振动抑制问题。利用假设模态法及系统动量守恒关系,导出了空间机械臂的系统动力学模型。基于混合滑模思想,针对系统惯性参数存在不确定的复杂情况,提出了一种柔性空间机械臂本体姿态、关节协调运动的自适应变结构控制方案。该文所引入的混合滑模由频率成形最优滑模及终端滑模两部分组成。前者用于抑制系统柔性杆件的振动,后者则是为了保证系统追踪误差在有限时间内的收敛性。此外,上述控制方案由于在控制过程中无需预知系统的柔性变量,因此可有效避免对系统柔性状态变量进行实时地测量与反馈,较适于实际应用。仿真运算,证实了所提控制方法的有效性。
The coordinated motion control and flexible vibration suppression of flexible space manipulator are studied. The system dynamics model of space manipulator is derived by assuming modal method and conservation of system momentum. Based on the idea of mixed sliding mode, an adaptive variable structure control scheme of flexible space manipulator body attitude and joint coordination is proposed to deal with the uncertain situation of system inertial parameters. The hybrid sliding mode introduced in this paper consists of two parts: the optimal frequency sliding mode and the terminal sliding mode. The former is used to restrain the vibration of the system flexible rod. The latter is to ensure the convergence of the system tracking error within a finite time. In addition, the above control scheme can effectively avoid the real-time measurement and feedback of the system’s flexible state variables because it is not necessary to predict the system’s flexible variables in the control process, which is more suitable for practical applications. Simulation shows that the proposed control method is effective.