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讨论了载体位置无控、姿态受控情况下,漂浮基柔性空间机械臂姿态、关节协调运动的控制问题。基于假想模态法、系统动量守恒关系及拉格朗日第二类方程,建立了漂浮基柔性空间机械臂的二阶非线性系统动力学方程。以此为基础,采用Backstepping控制策略,设计了漂浮基柔性空间机械臂载体姿态与机械臂各关节协调运动的Backstepping控制方案。提出的控制方案使系统满足了李雅普诺夫稳定性理论条件,并保证了系统具有全局意义下的渐进稳定性。一个平面漂浮基柔性空间机械臂的系统数值仿真,证实了此控制方案的有效性。
The control problems of attitude and joint coordination of floating flexible space manipulator with uncontrolled position and controlled attitude are discussed. Based on the imaginary modal method, the system of conservation of momentum and Lagrange’s second type of equations, the second-order nonlinear system dynamics equations of the flexible space manipulator with floating base were established. Based on this, the backstepping control scheme was designed by adopting the Backstepping control strategy. The Backstepping control scheme was designed for the coordinated motion between the attitude of the flexible space manipulator and the joints of the manipulator. The proposed control scheme makes the system satisfy the Lyapunov stability theory and guarantees the system asymptotic stability in the global sense. The numerical simulation of a planar floating-space flexible space manipulator verifies the effectiveness of this control scheme.